dockerfile

Dockerfile

+FROM tensorflow/tensorflow:latest-gpu
+
+
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+# install essentials
+RUN apt update && apt install -q -y \
+    build-essential git swig sudo libcppunit-dev curl wget 
+    # python-future
+
+# install ros
+## setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > \
+    /etc/apt/sources.list.d/ros-latest.list
+
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+# install bootstrap tools
+RUN apt update && apt install -y \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-wstool \
+    python3-rosinstall-generator \
+    python3-vcstools \
+    python3-catkin-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init \
+    && rosdep update
+
+RUN apt update && apt install -y \
+    ros-noetic-desktop-full \
+    && rm -rf /var/lib/apt/lists/*
+
+# RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+# RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+# RUN apt-get install ros-noetic-desktop-full
+# RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+# RUN source ~/.bashrc
+#
+## install ros packages
+#RUN apt-get update && apt-get install -y \
+#    ros-$ROS_DISTRO-libfranka ros-$ROS_DISTRO-franka-ros \
+#    python-catkin-tools ros-$ROS_DISTRO-gazebo-ros-control \
+#    ros-${ROS_DISTRO}-rospy-message-converter ros-${ROS_DISTRO}-effort-controllers \
+#    ros-${ROS_DISTRO}-joint-state-controller python-pip
+#
+## install python packages
+#RUN pip install --upgrade pip
+#RUN pip install --upgrade numpy numpy-quaternion==2020.5.11.13.33.35
+#RUN apt-get update && apt-get upgrade -y