Dockerfile.gazebo

# Copyright (C) 2025, Raffaello Bonghi <raffaello@rnext.it>
# All rights reserved
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright 
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
# 3. Neither the name of the copyright holder nor the names of its 
#    contributors may be used to endorse or promote products derived 
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 
# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, 
# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# Use the official ROS 2 base image
FROM osrf/ros:humble-simulation

# Create a workspace
ENV ROS_WS=/ros_ws
RUN mkdir -p $ROS_WS/src
WORKDIR $ROS_WS

# Specify non-root admin user for container
ARG USERNAME=admin
ENV USERNAME=${USERNAME}
# Copy the nanosaur_simulation packages into the workspace
COPY shared_src src/
COPY simulation_ws/src src/
# Copy scripts
RUN cp ${ROS_WS}/src/nanosaur_simulation/scripts/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh
# Install dependencies
RUN apt-get update && apt-get install -y \
    gosu sudo \
    python3-colcon-common-extensions && \
    rosdep update && \
    rosdep install --from-paths src --ignore-src -r -y && \
    rm -rf /var/lib/apt/lists/*
# Compile the workspace
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build && \
    rm -R $ROS_WS/build $ROS_WS/src $ROS_WS/log

# https://docs.docker.com/engine/reference/builder/#stopsignal
# https://hynek.me/articles/docker-signals/
STOPSIGNAL SIGINT
# Set the entrypoint
ENTRYPOINT [ "/entrypoint.sh" ]
# Set the default command
CMD [ "ros2", "launch", "nanosaur_gazebo", "gazebo.launch.py" ]