# Command to invoke this Docker image build:

# docker build --file Dockerfile -t diffbot_dev_image:latest .

# After build run containers with:

# docker run -it --rm --net=host --privileged --add-host=devhost:<your devhost IP> -v /tmp/.X11-unix:/tmp/.X11-unix --name=roscore diffbot_dev_image:latest'

# docker run -it --rm --net=host --privileged --add-host=devhost:<your devhost IP> -v /tmp/.X11-unix:/tmp/.X11-unix --name=rosnav diffbot_dev_image:latest'

# Run following command on devhost before starting any process with graphic output (rviz, rqt, etc.)

# xhost +local:

# This build is based on official ROS Noetic (includes Ubuntu 20.04LTS) Docker image

FROM ros:noetic

USER root

# Upgrade Ubuntu and install helpful utilities

RUN apt-get update

RUN apt-get upgrade -y

RUN apt install -y \

python3-catkin-tools \

python3-vcstool \

wget \

git \

# Following are optional but nice for debugging your image and containers

# Just remember that containers are immutable so any changes are ephemeral

# For permanent changes update this dockerfile and rebuild the image

net-tools \

nano \

iputils-ping

# Update apt repos so we can install ROS packages

RUN sh \

-c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" \

> /etc/apt/sources.list.d/ros-latest.list'

RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

# Install ROS utilities

RUN apt update

RUN apt install -y \

ros-noetic-roslint \

ros-noetic-geographic-msgs \

libgeographic-dev \

ros-noetic-rqt \

ros-noetic-rqt-robot-plugins

# Set location of our container's catkin workspace

ENV ROS_WS /opt/ros_ws

RUN mkdir -p $ROS_WS/src

WORKDIR $ROS_WS

# I had problems when set to localhost, passing devhost IP via 'docker run' command fixes comms

ENV ROS_MASTER_URI http://devhost:11311/

# Do this ---->

# Copy our customized/cloned catkin_ws/src into the image

# Note: catkin_ws/src MUST be in same directory as this dockerfile, symbolic links won't work

# COPY catkin_ws/src $ROS_WS/src

# OR this ---->

# To build from the official diffbot repo on github, instead of your

# custom catkin_ws, just comment-out the COPY above and then uncomment the following two commands

RUN git -C src clone \

-b noetic-devel \

https://github.com/ros-mobile-robots/diffbot.git

RUN vcs import < $ROS_WS/src/diffbot/diffbot_dev.repos

# Install diffbot ROS package dependencies

RUN rosdep update

RUN rosdep install --from-paths src --ignore-src -r -y

# Build all ROS packages from source code

RUN catkin config --extend /opt/ros/$ROS_DISTRO

RUN catkin build

# Source our diffbot environment

RUN sed --in-place --expression \

'$isource "$ROS_WS/devel/setup.bash"' \

/ros_entrypoint.sh

# Tell container that UI output goes to host X11 server display 0

ENV DISPLAY=:0

# Important: devhost MUST execute 'xhost +local:' command BEFORE rviz tries to open display (at OS prompt, not container prompt)

# Clean up

RUN rm -rf /var/lib/apt/lists/*

CMD ["/bin/bash"]

# Suggestion: Run one container for roscore and another for navigation (see 'docker run' examples above.)