A starting point for ROS melodic project Dockerfiles

melodic.dockerfile

FROM ros:melodic

ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# Add essential tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    apt-transport-https \
    ca-certificates \
    gnupg2 \
    software-properties-common \
    wget && \
    rm -rf /var/lib/apt/lists/*

# Add apt source for cmake
RUN wget --quiet -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | apt-key add - && \
    apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main' && \
    apt-get install kitware-archive-keyring && \
    apt-key --keyring /etc/apt/trusted.gpg del C1F34CDD40CD72DA

# Add apt source for gazebo
RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list && \
    wget --quiet -O - https://packages.osrfoundation.org/gazebo.key | apt-key add - 

# Upgrade stale packages
RUN apt-get update && \
    apt-get upgrade -y && \
    rm -rf /var/lib/apt/lists/*

# Install CMake
RUN apt-get update && apt-get install --no-install-recommends -y \
    cmake && \
    rm -rf /var/lib/apt/lists/*

# Install Gazebo
RUN apt-get update && apt-get install --no-install-recommends -y \
    apt-get gazebo11 \
    apt-get libgazebo11-dev && \
    rm -rf /var/lib/apt/lists/*

# Install rosdep, catkin, and rosinstall
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosdep-modules \
    python-catkin-tools \
    python-rosinstall && \
    rm -rf /var/lib/apt/lists/*

# Copy package into the container
RUN mkdir -p /opt/package_ws/src/package
COPY ./ ./opt/package_ws/src/package/

# Install dependencies
RUN cd ./package_ws && \
    apt-get update && rosdep install --from-paths src --ignore-src -r -y && \
    rm -rf /var/lib/apt/lists/*

# Clean up
RUN apt-get autoremove -y && \
    apt-get autoclean -y && \
    rm -rf /var/lib/apt/lists/*

# Build and install
RUN cd ./package_ws && \
    /bin/bash -c "source /opt/ros/melodic/setup.bash && \
    catkin clean --all --yes && \
    catkin config --install && \
    catkin build -j$(nproc) --cmake-args -DCMAKE_BUILD_TYPE=Release"

COPY ./docker-entrypoint.sh /
ENTRYPOINT ["/docker-entrypoint.sh"]