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update Docker file #16

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merged 1 commit into from
May 4, 2024
Merged

update Docker file #16

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3 changes: 2 additions & 1 deletion Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ RUN mkdir -p ${HOME}/.gazebo/models && \
tar xvzf /tmp/ground_plane -C ${HOME}/.gazebo/models

RUN git clone https://github.com/RyuYamamoto/navyu.git
RUN git clone https://github.com/CIT-Autonomous-Robot-Lab/emcl2_ros2.git
WORKDIR ../
RUN apt update && apt install -y python3-rosdep2 python3-colcon-common-extensions
RUN rosdep update
Expand All @@ -40,7 +41,7 @@ RUN apt install -y \
ros-humble-nav2-bringup
RUN source /opt/ros/humble/setup.bash && \
rosdep install -iry --from-paths src --rosdistro humble && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to navyu
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to navyu emcl2

ENV NVIDIA_DRIVER_CAPABILITIES graphics,compute,utility
ENV GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/ros2_ws/src/navyu/navyu_simulator/world
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3 changes: 1 addition & 2 deletions entrypoint.sh
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Expand Up @@ -6,6 +6,5 @@ tmux send-keys 'source install/setup.bash && ros2 launch navyu_simulator navyu_s

tmux split-window -h;

tmux send-keys 'source install/setup.bash' ENTER;
tmux send-keys ' ros2 launch navyu_navigation navigation2_bringup.launch.py'
tmux send-keys 'source install/setup.bash && ros2 launch navyu_navigation navyu_bringup.launch.py localization:=true' ENTER;
tmux attach-session
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