From 4625509f7ce358d1730434451032947f3cf667db Mon Sep 17 00:00:00 2001
From: Demian Frister <demian.frister@kit.edu>
Date: Mon, 19 Sep 2022 11:12:10 +0000
Subject: [PATCH] moveit added und ausgelagert in downloadable image
---
.devcontainer/Dockerfile | 8 +-------
.devcontainer/Dockerfile_core | 20 ++++++++++++++++++++
.devcontainer/devcontainer.json | 7 ++++++-
3 files changed, 27 insertions(+), 8 deletions(-)
create mode 100644 .devcontainer/Dockerfile_core
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index cb89653..a594027 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,9 +1,3 @@
# 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
-
-# [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-libfranka ros-noetic-franka-ros
-
-RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
\ No newline at end of file
+FROM chillerrobot/ros-noetic-moveit-panda:first
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile_core b/.devcontainer/Dockerfile_core
new file mode 100644
index 0000000..eaf34b7
--- /dev/null
+++ b/.devcontainer/Dockerfile_core
@@ -0,0 +1,20 @@
+# 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
+
+# [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-libfranka ros-noetic-franka-ros ros-noetic-moveit git
+
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN rosdep update
+
+RUN apt install -y --no-install-recommends ros-noetic-catkin python3-catkin-tools python3-osrf-pycommon python3-wstool
+
+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
+
+
+EXPOSE 6080/tcp
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 5df32a3..1e9aea7 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -16,6 +16,11 @@
"features": {
"git": "latest",
- "git-lfs": "latest"
+ "git-lfs": "latest",
+ "desktop-lite": {
+ "password": "vscode",
+ "webPort": "6080",
+ "vncPort": "5901"
+ }
}
}
--
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