From 773d84a9eb25074e1733ebb3369f4e01987b90f7 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Mon, 11 Dec 2023 18:29:05 +0300
Subject: [PATCH] add Dockerfile

---
 Dockerfile | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 Dockerfile

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..5ea5c14
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,39 @@
+FROM osrf/ros:humble-desktop
+
+ARG WSDIR=rbs_ws
+
+ENV RBS_ASSEMBLY_DIR=~/assembly
+ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_schunk_40_n_n_b/share/:~/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
+
+WORKDIR /${WSDIR}
+
+RUN apt update && apt install -y \ 
+    git \
+    python3-pip \ 
+    lsb-release \
+    wget \ 
+    gnupg \
+    libgoogle-glog-dev
+
+RUN pip install vcstool && \
+    wget http://www.lua.org/ftp/lua-5.3.1.tar.gz &&\
+    tar zxf lua-5.3.1.tar.gz &&\
+    sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install
+
+
+
+#Install Gazebo Fortres
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
+    "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
+    apt-get update &&\
+    apt-get install -y ignition-fortress
+
+# Install RBS
+COPY . src/robossembler-ros2/
+RUN ls -la src/
+
+RUN vcs import src/. < src/robossembler-ros2/rbs.repos
+RUN apt update && \
+    rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
+RUN . /opt/ros/humble/setup.sh && \
+    colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
\ No newline at end of file