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FROM openrobotics/space_robots_demo | ||
# Copyright 2021 Open Source Robotics Foundation, Inc. | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
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COPY ingenuity_mars_helicopter /home/spaceros-user/demos_ws/src/ingenuity_mars_helicopter | ||
COPY helicopter_flight_control /home/spaceros-user/demos_ws/src/helicopter_flight_control | ||
COPY helicopter_flight_simulation /home/spaceros-user/demos_ws/src/helicopter_flight_simulation | ||
COPY ingenuity_bringup /home/spaceros-user/demos_ws/src/ingenuity_bringup | ||
COPY ingenuity_description /home/spaceros-user/demos_ws/src/ingenuity_description | ||
COPY ./entrypoint.sh /home/spaceros-user/entrypoint.sh | ||
FROM osrf/space-ros:latest | ||
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# Disable prompting during package installation | ||
ARG DEBIAN_FRONTEND=noninteractive | ||
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RUN sudo chmod +x /home/spaceros-user/entrypoint.sh | ||
ENV INGENUITY_DIR=${HOME_DIR}/ingenuity_helicopter | ||
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ENTRYPOINT ["/home/spaceros-user/entrypoint.sh"] | ||
RUN sudo apt-get update && \ | ||
DEBIAN_FRONTEND=noninteractive sudo apt-get install -y --no-install-recommends \ | ||
ros-humble-hardware-interface \ | ||
ros-humble-generate-parameter-library \ | ||
ros-humble-xacro \ | ||
ros-humble-controller-interface \ | ||
ros-humble-realtime-tools \ | ||
ros-humble-ros2-control-test-assets \ | ||
ros-humble-controller-manager \ | ||
ros-humble-joint-state-publisher-gui \ | ||
ros-humble-control-msgs \ | ||
ros-humble-gazebo-ros \ | ||
ros-humble-control-toolbox \ | ||
ros-humble-ackermann-msgs \ | ||
ros-humble-ament-cmake \ | ||
ros-humble-ament-cmake-clang-format \ | ||
ros-humble-moveit \ | ||
ros-humble-joint-state-broadcaster \ | ||
libignition-gazebo6-dev \ | ||
ros-humble-joint-trajectory-controller \ | ||
ros-humble-ros-ign-gazebo \ | ||
ros-humble-ros-gz-bridge \ | ||
libeigen3-dev | ||
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# Install the various build and test tools | ||
RUN sudo apt install -y \ | ||
build-essential \ | ||
clang-format \ | ||
cmake \ | ||
git \ | ||
libbullet-dev \ | ||
python3-colcon-common-extensions \ | ||
python3-flake8 \ | ||
python3-pip \ | ||
python3-pytest-cov \ | ||
python3-rosdep \ | ||
python3-setuptools \ | ||
python3-vcstool \ | ||
wget | ||
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# Install some pip packages needed for testing | ||
RUN python3 -m pip install -U \ | ||
argcomplete \ | ||
flake8-blind-except \ | ||
flake8-builtins \ | ||
flake8-class-newline \ | ||
flake8-comprehensions \ | ||
flake8-deprecated \ | ||
flake8-docstrings \ | ||
flake8-import-order \ | ||
flake8-quotes \ | ||
pytest-repeat \ | ||
pytest-rerunfailures \ | ||
pytest | ||
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COPY ingenuity_mars_helicopter ${INGENUITY_DIR}/src/ingenuity_mars_helicopter | ||
COPY helicopter_flight_control ${INGENUITY_DIR}/src/helicopter_flight_control | ||
COPY helicopter_flight_simulation ${INGENUITY_DIR}/src/helicopter_flight_simulation | ||
COPY ingenuity_bringup ${INGENUITY_DIR}/src/ingenuity_bringup | ||
COPY ingenuity_description ${INGENUITY_DIR}/src/ingenuity_description | ||
COPY ./entrypoint.sh ${INGENUITY_DIR}/entrypoint.sh | ||
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RUN sudo chown -R ${USERNAME}:${USERNAME} ${INGENUITY_DIR} | ||
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RUN sudo chmod +x ${INGENUITY_DIR}/entrypoint.sh | ||
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ENTRYPOINT ["/home/spaceros-user/ingenuity_helicopter/entrypoint.sh"] |
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docker build -t ingenuity_flight_simulator . | ||
# !/usr/bin/env bash | ||
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docker build -t ingenuity_flight_simulator . | ||
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echo "" | ||
echo "##### Done! #####" |
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#!/bin/bash | ||
sudo chown -R ${USERNAME}:${USERNAME} /home/spaceros-user/ingenuity_helicopter | ||
source /home/spaceros-user/spaceros/install/setup.sh | ||
source /opt/ros/humble/setup.sh | ||
cd /home/spaceros-user/demos_ws | ||
cd /home/spaceros-user/ingenuity_helicopter | ||
colcon build --packages-select helicopter_flight_control helicopter_flight_simulation ingenuity_description ingenuity_bringup | ||
source /home/spaceros-user/demos_ws/install/setup.sh | ||
source /home/spaceros-user/ingenuity_helicopter/install/setup.sh | ||
ros2 launch ingenuity_bringup ingenuity_demo.launch.py |
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