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- FROM ros:foxy
- RUN apt-get update && apt-get install -y --no-install-recommends \
- wget nano build-essential libomp-dev clang lld git\
- ros-foxy-geodesy ros-foxy-pcl-ros ros-foxy-nmea-msgs \
- ros-foxy-rviz2 ros-foxy-libg2o \
- && apt-get clean \
- && rm -rf /var/lib/apt/lists/*
- RUN mkdir -p /root/colcon_ws/src
- WORKDIR /root/colcon_ws/src
- # Comment it out until the repository supports ROS2 builds.
- # RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
- # RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1
- COPY . /root/colcon_ws/src/ndt_omp/
- RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
- WORKDIR /root/colcon_ws
- RUN /bin/bash -c '. /opt/ros/foxy/setup.bash; CC=clang CXX=clang++ colcon build'
- RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh
- WORKDIR /
- ENTRYPOINT ["/ros_entrypoint.sh"]
- CMD ["bash"]
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