dockerfile_amr_pallet_trucks_project

FROM nvidia/cudagl:11.1.1-base-ubuntu20.04

# Minimal setup
RUN apt-get update \
 && apt-get install -y locales lsb-release
ARG DEBIAN_FRONTEND=noninteractive
RUN dpkg-reconfigure locales

# Install ROS Noetic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update \
 && apt-get install -y --no-install-recommends ros-noetic-desktop-full \
 && apt-get install -y --no-install-recommends ros-noetic-navigation \
 && apt-get install -y --no-install-recommends ros-noetic-rosbridge-suite \
 && apt-get install -y --no-install-recommends ros-noetic-ros-control ros-noetic-ros-controllers
RUN apt-get install -y --no-install-recommends python3-rosdep
RUN rosdep init \
 && rosdep fix-permissions \
 && rosdep update
 
 # Change the default shell to Bash
SHELL [ "/bin/bash" , "-c" ]

# Install Git
RUN apt-get update && apt-get install -y git && apt-get install -y build-essential

# Create a Catkin workspace and clone amr_pallet_trucks from gitbub
RUN source /opt/ros/noetic/setup.bash \
 && mkdir -p /home/moto/catkin_ws/src \
 && cd /home/moto/catkin_ws/src \
 && catkin_init_workspace \
 && git clone https://github.com/motomechatronics/amr_pallet_trucks.git \
 && apt-get install -y --no-install-recommends vim
 
# Build the Catkin workspace, sourced and compiled.
RUN source /opt/ros/noetic/setup.bash \
 && cd /home/moto/catkin_ws \
 && catkin_make

RUN source /home/moto/catkin_ws/devel/setup.bash
# Set the working folder at startup
WORKDIR /home/moto/catkin_ws
RUN apt-get install curl
RUN cd /home/moto/catkin_ws/src/amr_pallet_trucks/amr_webpage
#RUN mkdir -pv nvm 
RUN export NVM_DIR="/home/moto/catkin_ws/src/amr_pallet_trucks/amr_webpage/nvm"
RUN export PATH=${NVM_DIR}/v14/bin:${PATH}
RUN curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | bash 

RUN sudo ln -s /usr/bin/python3 /usr/bin/python
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
RUN echo "export GAZEBO_RESOURCE_PATH=usr/share/gazebo-11/models:$HOME/catkin_ws/src/amr_pallet_trucks:$HOME/catkin_ws/src/amr_pallet_trucks/amr_environment/models:$HOME/catkin_ws/src/amr_pallet_trucks/amr_environment" >> ~/.bashrc
RUN echo "export GAZEBO_MODEL_PATH=/usr/share/gazebo-11/models:$HOME/catkin_ws/src/amr_pallet_trucks:$HOME/catkin_ws/src/amr_pallet_trucks/amr_environment/models:$HOME/catkin_ws/src/amr_pallet_trucks/amr_environment" >> ~/.bashrc
RUN echo "export NVM_DIR="$HOME/catkin_ws/src/amr_pallet_trucks/amr_webpage/nvm"" >> ~/.bashrc

RUN echo "[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"" >> ~/.bashrc
RUN echo "[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"" >> ~/.bashrc
RUN echo "alias webpage_address='echo http://127.0.0.1:7000'" >> ~/.bashrc
RUN echo "alias rosbridge_address='echo ws://127.0.0.1:9090'" >> ~/.bashrc
RUN source ~/.bashrc