Dockerfile

FROM ros:noetic-ros-core

RUN sed -i 's/^deb/deb [trusted=yes]/' /etc/apt/sources.list.d/ros1-latest.list

# update and install dependencies
RUN apt-get update && apt-get upgrade -y && apt-get install -y \
    python3-osrf-pycommon \
    python3-catkin-tools \
    build-essential \
    protobuf-compiler \
    libprotobuf-dev \
    python3-rosdep

# update rosdep dependencies manually to speed up process
RUN apt-get install -y \
    ros-noetic-gazebo-msgs \
    libsdformat9-dev \
    ros-noetic-gazebo-ros \
    ros-noetic-xacro \
    ros-noetic-tf2 \
    ros-noetic-moveit-ros-planning-interface \
    ros-noetic-franka-gripper \
    ros-noetic-controller-manager \
    ros-noetic-effort-controllers \
    ros-noetic-gazebo-plugins \
    ros-noetic-gazebo-ros-control \
    ros-noetic-joint-state-controller \
    ros-noetic-joint-state-publisher \
    ros-noetic-joint-trajectory-controller \
    ros-noetic-robot-state-publisher \
    ros-noetic-tf \
    ros-noetic-moveit-simple-controller-manager \
    ros-noetic-moveit-core \
    ros-noetic-moveit-ros-perception \
    ros-noetic-moveit-visual-tools \
    ros-noetic-controller-interface \
    ros-noetic-hardware-interface \
    ros-noetic-moveit-ros-move-group \
    ros-noetic-moveit-fake-controller-manager \
    ros-noetic-moveit-kinematics \
    ros-noetic-moveit-planners-ompl \
    ros-noetic-moveit-ros-visualization \
    ros-noetic-joint-state-publisher-gui

RUN apt-get install -y \
    libnng1 libnng-dev

ENV HOME /home/user
RUN useradd --create-home --home-dir $HOME user && chmod -R u+rwx $HOME && chown -R user:user $HOME
RUN rosdep init

USER user

RUN mkdir -p ${HOME}/catkin_ws/src/cgv_connector
COPY --chown=user:user . ${HOME}/catkin_ws/

RUN rosdep update

# temporary switch to root to be able to install the ROS package dependencies of the workspace
USER root
RUN rosdep install --from-paths ${HOME}/catkin_ws -i -y -r
USER user

RUN ls -al /home/user
WORKDIR ${HOME}/catkin_ws
RUN echo "#!/bin/bash\n\
source /opt/ros/noetic/setup.bash\\n\
if [[ -f " $HOME/catkin_ws/devel/setup.bash" ]];then source $HOME/catkin_ws/devel/setup.bash; fi\\n\
exec \"\$@\"\\n" > ${HOME}/entrypoint.sh
RUN chmod u+x ${HOME}/entrypoint.sh

RUN ${HOME}/entrypoint.sh catkin build

EXPOSE 6576/tcp

ENTRYPOINT ["/home/user/entrypoint.sh"]