Dockerfile.linux

FROM ubuntu:16.04

ENV DEBIAN_FRONTEND noninteractive

# built-in packages
RUN apt-get update \
    && apt-get install -y --no-install-recommends software-properties-common curl \
    && add-apt-repository ppa:fcwu-tw/ppa \
    && apt-get update \
    && apt-get install -y --no-install-recommends --allow-unauthenticated \
        openssh-server sudo vim-tiny \
        net-tools \
        lxde \
        gtk2-engines-murrine ttf-ubuntu-font-family \
        firefox \
        python-pip python-dev build-essential \
        mesa-utils libgl1-mesa-dri \
        gnome-themes-standard gtk2-engines-pixbuf gtk2-engines-murrine pinta \
        dbus-x11 x11-utils \
        terminator \
    && apt-get autoclean \
    && apt-get autoremove \
    && rm -rf /var/lib/apt/lists/*

# =================================
# install ros (source: https://github.com/osrf/docker_images/blob/5399f380af0a7735405a4b6a07c6c40b867563bd/ros/kinetic/ubuntu/xenial/ros-core/Dockerfile)
# install packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    dirmngr \
    gnupg2 \
    && rm -rf /var/lib/apt/lists/*

# setup keys and ROS repos
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO kinetic
RUN apt-get update && apt-get install -y \
    ros-kinetic-desktop-full \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install --no-install-recommends -y \
    ros-kinetic-moveit ros-kinetic-gazebo-dev ros-kinetic-gazebo-msgs ros-kinetic-gazebo-plugins ros-kinetic-ros-controllers \
    ros-kinetic-gazebo-ros ros-kinetic-gazebo-ros-control ros-kinetic-gazebo-ros-pkgs ros-kinetic-industrial-robot-simulator \
    ros-kinetic-rosconsole ros-kinetic-usb-cam ros-kinetic-cv-bridge \
    && rm -rf /var/lib/apt/lists/*

# =================================

# user tools
RUN apt-get update && apt-get install -y \
    terminator \
    gedit \
    okular \
    && rm -rf /var/lib/apt/lists/*

# tini for subreap
ENV TINI_VERSION v0.9.0
ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini /bin/tini
RUN chmod +x /bin/tini

RUN echo "source /opt/ros/kinetic/setup.bash" >> /root/.bashrc

# prepare workspace for tm robot
RUN cd /root && mkdir -p catkin_ws/src
ADD techman_robot /root/catkin_ws/src/techman_robot
ADD tm700_moveit_config /root/catkin_ws/src/tm700_moveit_config
ADD tm900_moveit_config /root/catkin_ws/src/tm900_moveit_config
ADD tm_description /root/catkin_ws/src/tm_description
ADD tm_driver /root/catkin_ws/src/tm_driver
ADD tm_gazebo /root/catkin_ws/src/tm_gazebo
ADD tm_kinematics /root/catkin_ws/src/tm_kinematics
ADD tm_msgs /root/catkin_ws/src/tm_msgs
ADD tm700_camera_test /root/catkin_ws/src/tm700_camera_test
ADD tm700_gripper_test /root/catkin_ws/src/tm700_gripper_test

RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash"

WORKDIR /root
ENV HOME=/root \
    SHELL=/bin/bash