Dockerfile

# This is an auto generated Dockerfile for ros:ros-core
# generated from docker_images_ros2/create_ros_core_image.Dockerfile.em
FROM ubuntu:jammy

# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && \
    apt-get install -q -y --no-install-recommends tzdata && \
    rm -rf /var/lib/apt/lists/*

# install packages
RUN apt-get update && apt-get install -q -y --no-install-recommends \
    dirmngr \
    gnupg2 \
    && rm -rf /var/lib/apt/lists/*

# setup keys
RUN set -eux; \
       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
       export GNUPGHOME="$(mktemp -d)"; \
       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
       mkdir -p /usr/share/keyrings; \
       gpg --batch --export "$key" > /usr/share/keyrings/ros2-latest-archive-keyring.gpg; \
       gpgconf --kill all; \
       rm -rf "$GNUPGHOME"

# setup sources.list
RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

ENV ROS_DISTRO humble

# install ros2 packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-core=0.10.0-1* \
    && rm -rf /var/lib/apt/lists/*


# Copy the workspace directory into the image
COPY ./workspace /workspace

# setup entrypoint
COPY ./ros_entrypoint.sh /

# Make the entrypoint script executable
RUN echo '#!/bin/bash' > /ros_entrypoint.sh
RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash"' >> /ros_entrypoint.sh
RUN echo 'exec "$@"' >> /ros_entrypoint.sh
RUN chmod +x /ros_entrypoint.sh

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