91 lines
No EOL
3.4 KiB
Docker
91 lines
No EOL
3.4 KiB
Docker
FROM ros:humble-ros-base
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# Add home directory for user root
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RUN mkdir -p /home/root && chown root:root /home/root
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RUN apt update && apt install -y \
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# Install libfranka build depencencies
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build-essential \
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cmake \
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git \
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libeigen3-dev \
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libfmt-dev \
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libpoco-dev \
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# Install ros packages
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libignition-gazebo6-dev \
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libignition-plugin-dev \
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ros-humble-ament-cmake-clang-format \
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ros-humble-ament-cmake-clang-tidy \
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ros-humble-backward-ros \
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ros-humble-control-msgs \
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ros-humble-controller-interface \
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ros-humble-controller-manager \
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ros-humble-generate-parameter-library \
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ros-humble-hardware-interface \
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ros-humble-hardware-interface-testing \
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ros-humble-joint-state-broadcaster \
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ros-humble-joint-state-publisher \
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ros-humble-joint-state-publisher-gui \
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ros-humble-joint-trajectory-controller \
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ros-humble-moveit-kinematics \
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ros-humble-moveit-planners-ompl \
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ros-humble-moveit-ros-move-group \
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ros-humble-moveit-ros-visualization \
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ros-humble-moveit-simple-controller-manager \
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ros-humble-pinocchio \
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ros-humble-realtime-tools \
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ros-humble-ros2-control-test-assets \
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ros-humble-ros2-controllers \
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ros-humble-ros2controlcli \
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ros-humble-rviz2 \
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ros-humble-sdformat-urdf \
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ros-humble-xacro \
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# Install python3 packages
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python3-colcon-common-extensions\
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python3-colcon-mixin \
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python3-pip \
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&& rm -rf /var/lib/apt/lists/* \
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&& pip3 install -U dynamixel_sdk \
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tyro \
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vcstool \
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black
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# Install libfranka
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ARG LIBFRANKA_VERSION=0.15.0
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RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
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git clone --recursive https://github.com/frankaemika/libfranka --branch ${LIBFRANKA_VERSION} \
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&& cd libfranka \
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&& mkdir build \
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&& cd build \
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&& cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. \
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&& cmake --build . -j $(nproc) \
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&& cpack -G DEB \
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&& dpkg -i libfranka*.deb \
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&& cd ../../ && rm -r libfranka"
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# Install franka_ros2
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ARG FRANKA_ROS2_VERSION=v1.0.0
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ARG FRANKA_DESCRIPTION_VERSION=0.4.0
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RUN /bin/bash -c 'source /opt/ros/humble/setup.bash && \
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mkdir -p /tmp/franka_ros2 && cd /tmp/franka_ros2 && \
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git clone --recursive https://github.com/frankaemika/franka_ros2.git --branch ${FRANKA_ROS2_VERSION} && \
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git clone --recursive https://github.com/frankaemika/franka_description.git --branch ${FRANKA_DESCRIPTION_VERSION} &&\
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colcon build --install-base /opt/ros/humble/franka --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=off && \
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cd .. &&\
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rm -rf /tmp/franka_ros2 && \
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echo "source /opt/ros/humble/franka/setup.bash" >> ~/.bashrc &&\
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echo "source /opt/ros/humble/franka/setup.sh" >> ~/.profile'
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# Install robotiq gripper
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ARG ROS2_ROBOTIQ_GRIPPER_COMMIT_HASH="2ff85455d4b9f973c4b0bab1ce95fb09367f0d26"
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RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
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mkdir tmp_build && \
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cd tmp_build && \
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git clone https://github.com/PickNikRobotics/ros2_robotiq_gripper.git && \
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cd ros2_robotiq_gripper && git checkout ${ROS2_ROBOTIQ_GRIPPER_COMMIT_HASH} && cd .. && \
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sed -i 's/kGripperMaxSpeed = 0.150;/kGripperMaxSpeed = 1.0;/g' ros2_robotiq_gripper/robotiq_driver/src/hardware_interface.cpp && \
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vcs import . --input ros2_robotiq_gripper/ros2_robotiq_gripper.humble.repos && \
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colcon build --install-base /opt/ros/humble/franka --cmake-args -DCMAKE_BUILD_TYPE=Release && \
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cd .. && \
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rm -rf tmp_build && \
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rm -rf /var/lib/apt/lists/*" |