33 lines
1011 B
Docker
33 lines
1011 B
Docker
# syntax=docker/dockerfile:1.3
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FROM ros:jazzy-ros-core
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# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
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# Default to amd64 when not provided.
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ARG TARGETARCH=amd64
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ARG GRAPICAL_ENV=TRUE
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# Install dependencies and setup for GUI applications
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ENV DISPLAY=:0
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ENV WAYLAND_DISPLAY=wayland-0
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ENV XDG_SESSION_TYPE=x11
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ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
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#If debug, install the following:
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RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
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apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
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fi
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#TODO we're installing unneccessary things like the humanity-icons package, clean this up later.
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mkdir -p ~/ros2_ws/src
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pushd ~/ros2_ws
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git clone https://github.com/Exwayz-Navigation/exwayz_msgs.git src/exwayz_msgs
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colcon build --packages-select exwayz_msgs --parallel-workers 2
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popd
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source $HOME/ros2_ws/install/local_setup.bash #resp. local_setup.zsh
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# Set entrypoint
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ENTRYPOINT ["/ros_entrypoint.sh"]
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