Dockerfile.ros.melodic

#
# this dockerfile roughly follows the 'Ubuntu install of ROS Melodic' from:
#   http://wiki.ros.org/melodic/Installation/Ubuntu
#
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
FROM ${BASE_IMAGE}

ARG ROS_PKG=ros_base
ENV ROS_DISTRO=melodic
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

ENV DEBIAN_FRONTEND=noninteractive

WORKDIR /workspace


# 
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          git \
		cmake \
		build-essential \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		ca-certificates \
    && rm -rf /var/lib/apt/lists/*

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -


# 
# install ROS packages
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
		ros-melodic-`echo "${ROS_PKG}" | tr '_' '-'` \
		ros-melodic-image-transport \
		ros-melodic-vision-msgs \
          python-rosdep \
          python-rosinstall \
          python-rosinstall-generator \
          python-wstool \
    && rm -rf /var/lib/apt/lists/*


#
# init/update rosdep
#
RUN apt-get update && \
    cd ${ROS_ROOT} && \
    rosdep init && \
    rosdep update && \
    rm -rf /var/lib/apt/lists/*


# 
# setup entrypoint
#
COPY ./packages/ros_entrypoint.sh /ros_entrypoint.sh
RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /root/.bashrc
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
WORKDIR /