Links:
Add ROS repos and update APT package cache. Install libgtest-dev manually as it will not be installed automatically.
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install -y libgtest-dev
Install necessary tools via pip because some Ubuntu packages are absent.
sudo pip3 install -U rosdep rosinstall_generator vcstool
sudo pip3 install --upgrade setuptools
Initialize rosdep.
sudo rosdep init
rosdep update
Make workspace dir.
mkdir ros_catkin_ws
cd ros_catkin_ws/
Get sources for rospy Noetic. We don’t get full desktop because we only need
rospy.
rosinstall_generator rospy --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
mkdir ./src
vcs import --input noetic-desktop.rosinstall ./src
Install dependencies.
rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y
Build all.
./src/catkin/bin/catkin_make_isolated --install -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=Release
Source necessary environment on bash startup:
echo "source <workspace_dir>/install_isolated/setup.bash" >> $HOME/.bashrc
Below is ready-to-use Dockerfile which can be used to build necessary
environment under root user:
FROM ubuntu:18.04
# Install necessary prerequisites
RUN apt-get update
RUN apt-get install -y lsb-release gnupg python3-pip
# Workaround interactive tzdata update
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get install --yes tzdata
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime
RUN dpkg-reconfigure --frontend noninteractive tzdata
ENV HOME=/root
WORKDIR $HOME
# Adding ROS repos
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
# Update APT package cache
RUN apt-get update
RUN apt-get install -y libgtest-dev
# Install necessary tools
RUN pip3 install -U rosdep rosinstall_generator vcstool
RUN pip3 install --upgrade setuptools
# Initialize rosdep
RUN rosdep init
RUN rosdep update
# Make workspace
RUN mkdir ros_catkin_ws
RUN cd ros_catkin_ws/
# Get sources for rospy noetic
RUN rosinstall_generator rospy --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
RUN mkdir ./src
RUN vcs import --input noetic-desktop.rosinstall ./src
# Install dependencies
RUN rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y
# Build all
RUN ./src/catkin/bin/catkin_make_isolated --install -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=Release
# Source necessary environment
RUN echo "source $HOME/install_isolated/setup.bash" >> $HOME/.bashrc
# Cleanup
RUN rm -rf build_isolated devel_isolated noetic-desktop.rosinstall ros_catkin_ws src
ENTRYPOINT bash