[FetchIt!] Dockerfile & Docker Example

[moriarty]

I was asked to share a Dockerfile with the example of catkin overlays. Sorry, I did have a small typo in the version which I sent around via email, the sed command had an extra ..

Here is how the robots for FetchIt! will be setup with three catkin layers:

1. /opt/ros/melodic <- bottom layer, only root user can install packages here
2. $HOME/ros/stable/install <- middle layer, contains packages which are not in ros-melodic-desktop-full but which you depend on, but which you don't actively develop on.
3. $HOME/ros/active/src <- your active catkin source space
   $HOME/ros/active/devel <- your active catkin devel space

FROM osrf/ros:melodic-desktop-full-bionic

RUN DEBIAN_FRONTEND=noninteractive apt-get update \
 && apt-get install -y -q --no-install-recommends \
    python-catkin-tools \
    python-rosinstall-generator \
 && . /opt/ros/melodic/setup.sh \
 && rosinstall_generator fetchit_challenge --deps --deps-only --exclude RPP > stable.rosinstall \
 && rosinstall_generator fetchit_challenge --upstream > active.rosinstall \
 && mkdir -p $HOME/ros/stable $HOME/ros/active \
 && wstool init $HOME/ros/stable/src stable.rosinstall \
 && wstool init $HOME/ros/active/src active.rosinstall \
 && cd $HOME/ros/stable \
    && catkin config --init \
    && catkin config --install --extend /opt/ros/melodic \
    && catkin build \
 && cd $HOME/ros/active \
    && catkin config --init \
    && catkin config --extend $HOME/ros/stable/install \
    && catkin build \
 && sed -i 's/\/opt\/ros\/\$ROS_DISTRO/\$HOME\/ros\/active\/devel/' ./ros_entrypoint.sh

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