Dockerfile.indigo

FROM osrf/ros:indigo-desktop-full

SHELL ["/bin/bash", "-c"]

ENV CNOID_BRANCH release-1.6

ENV CNOID_INSTALL_DIR /usr/local/choreonoid
ENV PATH ${CNOID_INSTALL_DIR}/bin:${PATH}
ENV LD_LIBRARY_PATH ${CNOID_INSTALL_DIR}/lib:${LD_LIBRARY_PATH}
ENV PKG_CONFIG_PATH ${CNOID_INSTALL_DIR}/lib/pkgconfig:${PKG_CONFIG_PATH}
ENV CNOID_RTM_DIR /opt/ros/${ROS_DISTRO}
ENV WORKHOME /choreonoid

### for choreonoid
RUN apt-get update -q -qq && \
    apt-get install -q -qq -y libyaml-dev mesa-utils python-pip \
    ros-${ROS_DISTRO}-catkin python-wstools python-catkin-tools

## ros pkg
WORKDIR ${WORKHOME}/catkin_ws
RUN wstool init src && \
    wstool set -y -t src rtmros_tutorials https://github.com/start-jsk/rtmros_tutorials.git --git && \
#    wstool set -y -t src rtmros_common https://github.com/start-jsk/rtmros_common --git && \
#    wstool set -y -t src hrpsys https://github.com/fkanehiro/hrpsys-base.git --git && \
#    wstool set -y -t src jsk_common https://github.com/jsk-ros-pkg/jsk_common.git --git && \
    wstool set -y -t src pr2_navigation https://github.com/PR2/pr2_navigation.git --git && \
    wstool update -t src && \
    git clone https://github.com/jsk-ros-pkg/jsk_robot.git src/jsk_robot && \
## why?
    (cd src/jsk_robot; rm -rf README.md jsk_baxter_robot jsk_naoqi_robot jsk_robot doc jsk_fetch_robot jsk_pr2_robot) && \
## remove hrpsys_gazebo, hironx, hrpsys, opnehrp3 tutorials because it cause to install ros-indigo-hrpsys
    (cd src/rtmros_tutorials; rm -rf hrpsys_gazebo_tutorials hironx_tutorial hrpsys_tutorials openhrp3_tutorials)

RUN mkdir -p src/rtmros_choreonoid
COPY . src/rtmros_choreonoid/

RUN rosdep install -y -r --from-paths src --ignore-src

### should be solved ...,  hrpsys-base, jsk_common, pr2_navigation ###
RUN apt-get install -q -qq -y ros-${ROS_DISTRO}-jsk-tilt-laser ros-${ROS_DISTRO}-jsk-recognition && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/

## choreonoid

WORKDIR ${WORKHOME}/src
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
    git clone --depth 1 -b ${CNOID_BRANCH} https://github.com/s-nakaoka/choreonoid.git && \
    mkdir -p choreonoid/build && \
    cd choreonoid/build && \
    cmake .. -DCMAKE_INSTALL_PREFIX=${CNOID_INSTALL_DIR} -DOPENRTM_DIR=${CNOID_RTM_DIR} -DENABLE_INSTALL_RPATH=ON -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DBUILD_OPENRTM_PLUGIN=ON -DBUILD_HELLO_WORLD_SAMPLE=ON -DBUILD_SPRING_MODEL_SAMPLE=ON -DUSE_PYTHON3=OFF -DUSE_PYBIND11=OFF -DUSE_BUILTIN_CAMERA_IMAGE_IDL=ON && \
    make -j4 && \
    make install

## build hrpsys parallel ??
#RUN cd /home/choreonoid/catkin_ws && \
#    /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && catkin build hrpsys --no-status --no-notify"

## build ros packages
WORKDIR ${WORKHOME}/catkin_ws
RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && catkin build hrpsys_choreonoid_tutorials jsk_robot_startup pr2_navigation_self_filter --no-status --no-notify -j 1 -p 1"

##
RUN /bin/bash -c "source ${WORKHOME}/catkin_ws/devel/setup.bash && rosrun roseus generate-all-msg-srv.sh geometry_msgs sensor_msgs hrpsys_ros_bridge opencv_apps"

## ADD ./my_entrypoint.sh /
## ENTRYPOINT ["/my_entrypoint.sh"]
## CMD ["bash"]