Dockerfile

ARG ROS_DISTRO=galactic
FROM ros:${ROS_DISTRO}-ros-base

### Use bash by default
SHELL ["/bin/bash", "-c"]

### Define working directory
ARG WS_DIR=/root/ws
ENV WS_DIR=${WS_DIR}
ENV WS_SRC_DIR=${WS_DIR}/src
ENV WS_INSTALL_DIR=${WS_DIR}/install
ENV WS_LOG_DIR=${WS_DIR}/log
WORKDIR ${WS_DIR}

### Install Gazebo
ARG IGNITION_VERSION=fortress
ENV IGNITION_VERSION=${IGNITION_VERSION}
RUN apt-get update && \
    apt-get install -yq --no-install-recommends \
    ignition-${IGNITION_VERSION} && \
    rm -rf /var/lib/apt/lists/*

### Import and install dependencies, then build these dependencies (not panda_ign_moveit2 yet)
COPY ./panda_ign_moveit2.repos ${WS_SRC_DIR}/panda_ign_moveit2/panda_ign_moveit2.repos
RUN vcs import --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/panda_ign_moveit2/panda_ign_moveit2.repos && \
    rosdep update && \
    apt-get update && \
    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
    rm -rf /var/lib/apt/lists/* && \
    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
    rm -rf ${WS_LOG_DIR}

### Copy over the rest of panda_ign_moveit2, then install dependencies and build
COPY ./ ${WS_SRC_DIR}/panda_ign_moveit2/
RUN rosdep update && \
    apt-get update && \
    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
    rm -rf /var/lib/apt/lists/* && \
    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
    rm -rf ${WS_LOG_DIR}

### Add workspace to the ROS entrypoint
### Source ROS workspace inside `~/.bashrc` to enable autocompletion
RUN sed -i '$i source "${WS_INSTALL_DIR}/local_setup.bash" --' /ros_entrypoint.sh && \
    sed -i '$a source "/opt/ros/${ROS_DISTRO}/setup.bash"' ~/.bashrc