Dockerfile

# syntax=docker/dockerfile:1.4

ARG ROS_DISTRO=humble

FROM ros:${ROS_DISTRO}-ros-base

ENV TZ=Asia/Tokyo
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
ENV DEBIAN_FRONTEND=noninteractive

RUN printf 'APT::Keep-Downloaded-Packages "true";\nBinary::apt-get::Keep-Downloaded-Packages "true";\n' > /etc/apt/apt.conf.d/99keep-cache

RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
    apt-get update && \
    apt-get install -y \
        locales \
        ros-dev-tools \
        git && \
    locale-gen en_US en_US.UTF-8 && \
    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

RUN rosdep init || true && rosdep update

ENV LANG=en_US.UTF-8
ENV ROS_DISTRO=${ROS_DISTRO}
ENV ROS_WS=/opt/ros2_ws

WORKDIR ${ROS_WS}

COPY .local/src ./src

SHELL ["/bin/bash", "-o", "pipefail", "-c"]

RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt/lists,sharing=locked \
    set -e && \
    set -o pipefail && \
    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
    apt-get update && \
    rosdep install --from-paths src --ignore-src --rosdistro "${ROS_DISTRO}" -y && \
    colcon build --merge-install --install-base install

COPY docker/entrypoint.sh /usr/local/bin/ros_ws_entrypoint.sh
RUN chmod +x /usr/local/bin/ros_ws_entrypoint.sh

ENV COLCON_CURRENT_PREFIX=${ROS_WS}/install

ENTRYPOINT ["/usr/local/bin/ros_ws_entrypoint.sh"]
CMD ["bash"]