Dockerfile to construct a clean environment for the ros2-port branch of ccny/scan_tools.git

scan_tools_ros2_dockerfile.txt

# To use this dockerfile:
# 1) Copy these contents a file named "Dockerfile"
# 2) Build with the command `docker build -t scan_tools .` (assuming you're in a directory with this file)
# 3) Running with `docker run --net=host -it --rm scan_tools /bin/bash` allows this to talk to nodes outside of the container

FROM ubuntu:20.04

# get set up for install
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
RUN apt update && apt install -y curl gnupg2 lsb-release git build-essential pkg-config libgsl-dev libeigen3-dev

# install ros foxy
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt update
RUN apt install -y ros-foxy-ros-base

# clone the code for this PR:
WORKDIR /ws/src
RUN git clone https://github.com/malban/scan_tools.git -b ros2-port
RUN git clone https://github.com/malban/csm.git        -b pkg-config
#RUN git clone https://github.com/AndreaCensi/csm.git

# install final deps and colcon-build it
RUN apt install -y ros-foxy-nav-msgs ros-foxy-laser-geometry tf2* python3-colcon-common-extensions
RUN /bin/bash -c "source /opt/ros/foxy/setup.bash && colcon build"