Dockerfile.ros2-base

FROM timongentzsch/l4t-ubuntu20-opencv

ARG DEBIAN_FRONTEND=noninteractive

ARG ROS_PKG=ros_base
ARG ROS_DISTRO=foxy
ARG ROS_ROOT=/opt/ros/${ROS_DISTRO}

#
# change the locale from POSIX to UTF-8
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    locales \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8
ENV PYTHONIOENCODING=utf-8

# 
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		ca-certificates \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

# 
# install ros2 packages
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
		ros-${ROS_DISTRO}-ros-base \
		python3-colcon-common-extensions \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

# source ROS
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc

CMD ["bash"]
WORKDIR /root