dockerfile_OpenMORE

FROM osrf/ros:noetic-desktop-full

# Change the default shell to Bash
SHELL [ "/bin/bash" , "-c" ]
 
# Minimal setup
RUN apt-get update && apt-get install -y 

RUN sudo apt install git-all -y

RUN sudo apt-get install python3-wstool -y

RUN sudo apt-get install python3-rosdep -y

RUN sudo apt-get install wget -y

# Catkin tools
RUN sudo sh \
    -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" \
        > /etc/apt/sources.list.d/ros-latest.list'
RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
RUN sudo apt-get update && sudo apt-get install python3-catkin-tools -y

# OpenMORE
RUN mkdir -p ./replanning_ws/src
RUN cd ./replanning_ws && catkin init && wstool init src
RUN cd ./replanning_ws && wget https://raw.githubusercontent.com/JRL-CARI-CNR-UNIBS/OpenMORE/master/OpenMORE.rosinstall 
RUN cd ./replanning_ws && wstool merge -t src ./OpenMORE.rosinstall
RUN cd ./replanning_ws && wstool update -t src 
RUN cd ./replanning_ws && rosdep install --from-paths src --ignore-src -r -y

RUN sudo apt install ros-$ROS_DISTRO-trac-ik-kinematics-plugin -y
RUN sudo apt install ros-$ROS_DISTRO-chomp-motion-planner -y
RUN sudo apt install ros-$ROS_DISTRO-moveit-planners-chomp -y
RUN sudo apt install ros-$ROS_DISTRO-pilz-industrial-motion-planner -y

RUN source /opt/ros/${ROS_DISTRO}/setup.bash && cd ./replanning_ws && catkin build -cs
RUN cd ./replanning_ws && source devel/setup.bash

CMD source /opt/ros/${ROS_DISTRO}/setup.bash && source ./replanning_ws/devel/setup.bash && /bin/bash