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Dockerfile
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Dockerfile
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FROM ubuntu:noble-20240429
# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
apt-get update && \
apt-get install -q -y --no-install-recommends tzdata && \
rm -rf /var/lib/apt/lists/*
# install packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
dirmngr \
gnupg2 \
&& rm -rf /var/lib/apt/lists/*
# setup keys
RUN set -eux; \
key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
export GNUPGHOME="$(mktemp -d)"; \
gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
mkdir -p /usr/share/keyrings; \
gpg --batch --export "$key" > /usr/share/keyrings/ros2-testing-archive-keyring.gpg; \
gpgconf --kill all; \
rm -rf "$GNUPGHOME"
# setup sources.list
RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-testing-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu noble main" > /etc/apt/sources.list.d/ros2-testing.list
# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV ROS_DISTRO rolling
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
build-essential \
git \
python3-colcon-common-extensions \
python3-colcon-mixin \
python3-rosdep \
python3-vcstool \
&& rm -rf /var/lib/apt/lists/*
# bootstrap rosdep
RUN rosdep init \
&& rosdep update --rosdistro $ROS_DISTRO
# setup colcon mixin and metadata
RUN colcon mixin add default \
https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
colcon mixin update && \
colcon metadata add default \
https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
colcon metadata update
# install environment file for sourcing environment in entrypoint
RUN apt-get update && apt-get install --no-install-recommends -y \
ros-rolling-ros-environment \
&& rm -rf /var/lib/apt/lists/*
# setup entrypoint
COPY ./ros_entrypoint.sh /
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]