Gazebo9 source build with DART and ROS1 Melodic

Dockerfile

ARG FROM_IMAGE=ros:melodic
ARG UNDERLAY_WS=/opt/underlay_ws

# multi-stage for caching
FROM $FROM_IMAGE AS cacher

# install helper packages
RUN apt-get update && apt-get install -y \
      curl \
      git \
      python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# clone underlay source
ARG UNDERLAY_WS
WORKDIR $UNDERLAY_WS/src
COPY ./underlay.repos ../
RUN vcs import ./ < ../underlay.repos && \
    find ./ -name ".git" | xargs rm -rf && \
    curl https://bitbucket.org/scpeters/unix-stuff/raw/master/package_xml/package_gazebo.xml > osrf/gazebo/package.xml

# copy manifests for caching
WORKDIR /opt
RUN mkdir -p /tmp/opt && \
    find ./ -name "package.xml" | \
      xargs cp --parents -t /tmp/opt && \
    find ./ -name "COLCON_IGNORE" | \
      xargs cp --parents -t /tmp/opt || true

# multi-stage for building
FROM $FROM_IMAGE AS builder

# install dev packages
RUN apt-get update && apt-get install -y \
      build-essential \
      ccache \
      lcov \
      lsb-release \
      python3-colcon-common-extensions \
      python3-colcon-mixin \
      python-rosdep \
      software-properties-common \
    && rosdep update \
    && rm -rf /var/lib/apt/lists/*

# setup colcon mixin and metadata
RUN colcon mixin add default \
      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
    colcon mixin update && \
    colcon metadata add default \
      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
    colcon metadata update

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743

# setup sources.list
RUN . /etc/os-release \
    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list

# install dart packages
RUN apt-add-repository ppa:dartsim/ppa && \
    apt-get update && apt-get install -y \
      libdart6-dev \
      libdart6-utils-urdf-dev \
    && rm -rf /var/lib/apt/lists/*

# install gazebo packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
      libgazebo9-dev \
      libtinyxml2-dev \
      protobuf-compiler \
      ruby-ronn \
      xsltproc \
      libqt5opengl5-dev \
    && rm -rf /var/lib/apt/lists/*

# install underlay dependencies
ARG UNDERLAY_WS
WORKDIR $UNDERLAY_WS
# COPY --from=cacher /tmp/$UNDERLAY_WS ./
# RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
#     apt-get update && rosdep install -q -y \
#       --from-paths src \
#       --ignore-src \
#       --skip-keys " \
#         simbody \
#       " \
#     && rm -rf /var/lib/apt/lists/*

# build underlay source
COPY --from=cacher $UNDERLAY_WS ./
ARG UNDERLAY_MIXINS="release ccache"
ARG FAIL_ON_BUILD_FAILURE=True
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --symlink-install \
      --mixin $UNDERLAY_MIXINS

underlay.repos

repositories:
    osrf/gazebo:
      type: git
      url: https://github.com/osrf/gazebo.git
      version: gazebo9