From 2540ed35d4e8c1c1dc00d5340e60c17c37929c46 Mon Sep 17 00:00:00 2001
From: root <Demian Frister>
Date: Tue, 20 Sep 2022 11:48:58 +0000
Subject: [PATCH] dockerfile angepasst
---
.devcontainer/Dockerfile | 6 +-----
.devcontainer/Dockerfile_core | 31 +++++++++----------------------
2 files changed, 10 insertions(+), 27 deletions(-)
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 726ddae..4f49220 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,7 +1,3 @@
-# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/ubuntu/.devcontainer/base.Dockerfile
-
FROM chillerrobot/ros-noetic-moveit-panda:first
-RUN echo "source ./catkin_ws/devel/setup.bash" >> ~/.bashrc
-
-# install ros-noetic-effort-controllers
\ No newline at end of file
+RUN echo "source ./catkin_ws/devel/setup.bash" >> ~/.bashrc
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile_core b/.devcontainer/Dockerfile_core
index 01ca753..c6089d0 100644
--- a/.devcontainer/Dockerfile_core
+++ b/.devcontainer/Dockerfile_core
@@ -1,36 +1,22 @@
# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/ubuntu/.devcontainer/base.Dockerfile
FROM osrf/ros:noetic-desktop-full
-ENV DEBIAN_FRONTEND noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
- dirmngr \
- gnupg2
# [Optional] Uncomment this section to install additional OS packages.
RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
- && apt-get -y install --no-install-recommends ros-noetic-franka-ros ros-noetic-moveit ros-noetic-effort-controllers git sudo nano python3-pip \
- python3-scipy libprotobuf-dev protobuf-compiler libboost-all-dev \
- ros-noetic-convex-decomposition ros-noetic-ivcon \
- git-core python3-wstool python3-vcstools python3-rosdep ros-noetic-control-msgs \
- ros-noetic-xacro ros-noetic-tf2-ros ros-noetic-rviz ros-noetic-cv-bridge \
- ros-noetic-actionlib ros-noetic-actionlib-msgs ros-noetic-dynamic-reconfigure ros-noetic-rosparam-shortcuts\
- ros-noetic-trajectory-msgs ros-noetic-moveit \
- ros-noetic-octomap-rviz-plugins \
- ros-noetic-control-toolbox ros-noetic-catkin python3-catkin-tools \
- ros-noetic-moveit-visual-tools \
- ros-noetic-rospy-message-converter \
- ros-noetic-realtime-tools ros-noetic-ros-controllers \
- ros-noetic-tf-conversions ros-noetic-kdl-parser \
- ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros-control \
- ros-noetic-libfranka python3-osrf-pycommon \
- build-essential python3-dev swig python3-pygame
+ && apt-get -y install --no-install-recommends ros-noetic-libfranka ros-noetic-franka-ros ros-noetic-moveit ros-noetic-effort-controllers git \
+ build-essential python3-dev \
+ ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
-RUN pip3 install future numpy numpy-quaternion==2020.5.11.13.33.35 \
- pygame decorator matplotlib Pillow scipy scikit-learn osrf-pycommon
RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
RUN rosdep update
+RUN apt-get install -y --no-install-recommends ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool python3-pip
+
+RUN pip3 install future numpy numpy-quaternion==2020.5.11.13.33.35 \
+ pygame decorator matplotlib Pillow scipy scikit-learn osrf-pycommon
+
RUN mkdir -p ~/ws_moveit/src
RUN cd ~/ws_moveit/src && wstool init . && wstool merge -t . https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && wstool remove moveit_tutorials && wstool update -t .
RUN cd ~/ws_moveit/src git clone https://github.com/ros-planning/moveit_tutorials.git -b master && rosdep install -y --from-paths . --ignore-src --rosdistro noetic && cd ~/ws_moveit && catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release && catkin build && echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
@@ -40,4 +26,5 @@ ENV NVIDIA_VISIBLE_DEVICES \
ENV NVIDIA_DRIVER_CAPABILITIES \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
EXPOSE 6080/tcp
--
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