fastrtps_repro.Dockerfile

FROM osrf/ros2:nightly

RUN rosdep update
RUN apt-get update && apt-get -y install libasio-dev

#
# Grab Fast-RTPS 1.7.2 and rmw_fastrtps 0.7.1
#

ADD https://gist.github.com/cottsay/31270f487d31a1c81526c67c9cecf0b5/raw/old_fastrtps.repos old_fastrtps.repos
RUN mkdir -p oldfastrtps/src && vcs import oldfastrtps/src < old_fastrtps.repos
RUN rosdep install --from-path /opt/ros/dashing/share oldfastrtps/src --ignore-src --rosdistro dashing -y --skip-keys "libopensplice69 sqlite3_vendor urdfdom_headers rti-connext-dds-5.3.1 fastcdr"
RUN cd oldfastrtps && colcon build --merge --symlink --packages-up-to rmw_fastrtps_cpp rmw_fastrtps_shared_cpp rmw_fastrtps_dynamic_cpp

#
# Grab the extra packages needed for the repro
#

ADD https://gist.githubusercontent.com/cottsay/739dbfa8ae96647abc5ad3867337595a/raw/sim_launch_repro.repos sim_launch_repro.repos
RUN mkdir -p repro/src && vcs import repro/src < sim_launch_repro.repos
RUN rosdep install --from-path /opt/ros/dashing/share repro/src --ignore-src --rosdistro dashing -y --skip-keys "libopensplice69 sqlite3_vendor urdfdom_headers rti-connext-dds-5.3.1 fastrtps fastcdr cartographer_ros rplidar_ros keystroke joint_state_publisher"
RUN . /opt/ros/dashing/setup.sh && cd repro && colcon build --merge --symlink --packages-up-to gazebo_ros robot_localization openrover_demo gazebo_plugins

#
# Set up the entry point
#

RUN echo '#!/bin/bash\nset -e\nsource /repro/install/setup.bash\nexec "$@"' > /repro_setup.sh
RUN chmod +x /repro_setup.sh

ENTRYPOINT ["/repro_setup.sh"]
CMD ["bash"]