HumbleDockerfile

FROM ros:humble
ENV DEBIAN_FRONTEND noninteractive
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute

RUN apt-get update && apt-get install -y \
    locales \
    python3-pip \
    ros-humble-xacro \
    ros-humble-launch-xml \
    ros-humble-cv-bridge \
    ros-humble-launch-testing-ament-cmake \
    ros-humble-robot-state-publisher \
    ros-humble-joint-state-publisher \
    ros-humble-joint-state-publisher-gui \
    ros-humble-joy \
    ros-humble-joy-teleop \
    ros-humble-tf-transformations \
    ros-humble-pcl-conversions \
    ros-humble-pcl-msgs \
    ros-humble-pcl-ros \
    libopus-dev \
    nano \
    && rm -rf /var/lib/apt/lists/*

RUN locale-gen en_US.UTF-8

SHELL ["/bin/bash", "-c"]

RUN python3 -m pip install -U numpy numpy-quaternion pyyaml
RUN apt-get update && \
    apt-get install -y nlohmann-json3-dev libgtest-dev libeigen3-dev libarmadillo-dev libensmallen-dev libcereal-dev libstb-dev g++ cmake && rm -rf /var/lib/apt/lists/*
RUN mkdir -p /tmp && cd /tmp && git clone https://github.com/mlpack/mlpack.git && cd /tmp/mlpack && cmake -S . -B build && cmake --build build --target install && rm -rf /tmp

RUN mkdir /tmp
RUN chmod 1777 /tmp
RUN apt-get update && apt-get install -y \
    ros-humble-rviz2 \
    ros-humble-navigation2 \
    ros-humble-nav2-bringup \
    ros-humble-slam-toolbox \
    ros-humble-rqt \
    ros-humble-rqt-image-view \
    ros-humble-rqt-tf-tree \
    ros-humble-joy \
    ros-humble-joy-teleop \
    ros-humble-rosbag2-storage-mcap \
    && rm -rf /var/lib/apt/lists/*



RUN python3 -m pip install goodpoints pybind11 pandas

COPY ros_ws ros_ws

RUN cd /usr/include/ && sudo ln -sf eigen3/Eigen Eigen

RUN cd /ros_ws/src/cmcl/cmcl_ros/ncore &&  cmake -S . -B build && cmake --build build
  
RUN cd /ros_ws && source /ros_entrypoint.sh && colcon build --packages-up-to robomaster_ros

RUN cd /ros_ws && source /ros_entrypoint.sh && \
  colcon build  --packages-select cmcl_msgs cmcl_ros --cmake-clean-cache && rm -r build log


WORKDIR /ros_ws


#RUN chmod 1777 /tmp