TurtleBot3/dockerfile-pc at main · fagnerpimentel/TurtleBot3 · GitHub

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ARG DEBIAN_FRONTEND=noninteractive
FROM osrf/ros:humble-desktop-full
ENV ROS_DISTRO=humble

SHELL [ "/bin/bash" , "-c"]

RUN apt-get update
RUN apt install -y xterm tmux git wget

# cria e determina diretório da area de trabalho
RUN mkdir /turtlebot3_ws
RUN mkdir /turtlebot3_ws/src

RUN apt install -y ros-${ROS_DISTRO}-gazebo-ros
RUN apt install -y ros-${ROS_DISTRO}-gazebo-ros-pkgs
RUN apt install -y ros-${ROS_DISTRO}-turtlebot3-gazebo
RUN apt install -y ros-${ROS_DISTRO}-cartographer
RUN apt install -y ros-${ROS_DISTRO}-cartographer-ros
RUN apt install -y ros-${ROS_DISTRO}-navigation2
RUN apt install -y ros-${ROS_DISTRO}-nav2-bringup
RUN apt install -y ros-${ROS_DISTRO}-dynamixel-sdk
RUN apt install -y ros-${ROS_DISTRO}-turtlebot3-msgs
RUN apt install -y ros-${ROS_DISTRO}-turtlebot3
RUN apt install -y ros-${ROS_DISTRO}-hls-lfcd-lds-driver
RUN apt install -y ros-${ROS_DISTRO}-dynamixel-sdk

RUN apt install -y python3-argcomplete
RUN apt install -y python3-colcon-common-extensions
RUN apt install -y libboost-system-dev
RUN apt install -y build-essential
RUN apt install -y libudev-dev

RUN wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/humble-devel/turtlebot3_navigation2/param/burger.yaml
RUN mv burger.yaml /opt/ros/humble/share/turtlebot3_navigation2/param/

# config tmux
RUN echo "unbind -n Tab"                                                                    >> ~/.tmux.conf
RUN echo "set -g window-style        'fg=#ffffff,bg=#8445ca'"                               >> ~/.tmux.conf
RUN echo "set -g window-active-style 'fg=#ffffff,bg=#5e2b97'"                               >> ~/.tmux.conf
RUN echo "set-option -g default-shell '/bin/bash'"                                          >> ~/.tmux.conf
RUN echo "run-shell '. /opt/ros/humble/setup.bash'"                                         >> ~/.tmux.conf
RUN echo "set -g mouse on"                                                                  >> ~/.tmux.conf
RUN echo "bind-key -n C-Left select-pane -L"                                                >> ~/.tmux.conf
RUN echo "bind-key -n C-Right select-pane -R"                                               >> ~/.tmux.conf
RUN echo "bind-key -n C-Up select-pane -U"                                                  >> ~/.tmux.conf
RUN echo "bind-key -n C-Down select-pane -D"                                                >> ~/.tmux.conf
RUN echo "bind -n M-Right split-window -h"                                                  >> ~/.tmux.conf
RUN echo "bind -n M-Down split-window -v"                                                   >> ~/.tmux.conf

RUN apt install -y python3-pip
RUN pip install setuptools==58.2.0

WORKDIR /turtlebot3_ws