41 lines
1.3 KiB
Docker
41 lines
1.3 KiB
Docker
FROM docker.1ms.run/library/ros:humble-ros-base
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SHELL ["/bin/bash", "-c"]
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && apt-get install -y --no-install-recommends \
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python3-colcon-common-extensions \
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ros-humble-navigation2 \
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ros-humble-nav2-bringup \
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ros-humble-slam-toolbox \
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ros-humble-rviz2 \
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ros-humble-turtlebot3 \
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ros-humble-turtlebot3-msgs \
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ros-humble-ros-gzharmonic \
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ros-humble-robot-state-publisher \
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gz-sim8-cli \
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gz-launch7-cli \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /workspaces/vlm_office
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RUN mkdir -p src
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COPY turtlebot3_simulations src/turtlebot3_simulations
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COPY m-explore-ros2 src/m-explore-ros2
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COPY docker/entrypoint.sh /entrypoint.sh
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COPY docker/run_task1.sh /run_task1.sh
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COPY docker/save_map.sh /save_map.sh
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RUN chmod +x /entrypoint.sh /run_task1.sh /save_map.sh && \
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source /opt/ros/humble/setup.bash && \
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colcon build --symlink-install \
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--packages-select turtlebot3_gazebo explore_lite
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ENV TURTLEBOT3_MODEL=burger
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ENV NAV2_MAP_BASENAME=/data/maps/office_map
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ENV GZ_SIM_RESOURCE_PATH=/workspaces/vlm_office/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office:/workspaces/vlm_office/src/turtlebot3_simulations/turtlebot3_gazebo/models
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]
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