Dockerfile

# syntax=docker/dockerfile:1

# NOTE: Keep this file in sync with .github/workflows/*.yaml

# We use Humble Hawksbill (https://docs.ros.org/en/rolling/Releases.html) as base image,
# since it is the oldest ROS2 distro that we support without strong limitations and we want to ensure
# that we do not use APIs that are not available in older distros.
FROM ros:humble-ros-core

# Install runtime dependencies
RUN apt-get update -q && apt-get install -qy python3-pip python-is-python3 git ros-dev-tools
RUN rosdep init && rosdep update

# Make sure we can install packages with pip on Jazzy+
ENV PIP_BREAK_SYSTEM_PACKAGES=1

# Need to have setuptools version 64+ for editable installs
# Also fixes: https://github.com/pypa/setuptools/issues/4483#issuecomment-2236339726
RUN pip install --upgrade pip "setuptools>=64.0" "packaging>=22.0"

# Ensure sourced ROS environment at startup
RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> ~/.bashrc