lucy_ws/Dockerfile.humble at master · Sentience-Robotics/lucy_ws · GitHub

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# ROS 2 Humble on Ubuntu 22.04 — for testing Humble packages on Ubuntu 24.04 (Noble)
# Official 'ros' image has no desktop tag; OSRF provides humble-desktop
#
# Install steps (host):
#   1. Build image:  docker build -f Dockerfile.humble -t lucy_ros2_control:humble .
#   2. Run script:   ./launch_lucy.sh   (builds workspace, starts Vite control panel in container, interactive shell)
#   3. In container: ros2 launch thais_urdf gazebo.launch.py
#   4. Control panel UI: http://localhost:5000 on host (PORT_CONTROL_PANEL); rosbridge :9090
#
# Rebuilding: install.sh / launch_lucy.sh compare Dockerfile.humble checksum to LABEL lucy.dockerfile.sha256 and rebuild when needed.
#
FROM osrf/ros:humble-desktop

ARG DOCKERFILE_SHA256=unknown
LABEL lucy.dockerfile.sha256="${DOCKERFILE_SHA256}"

# Jammy: universe + multiverse carry python3-pytest-mock, GStreamer, etc. The base image can list only "main".
RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
    ca-certificates software-properties-common \
 && add-apt-repository -y universe \
 && add-apt-repository -y multiverse \
 && apt-get update \
 && rm -rf /var/lib/apt/lists/*

# Gazebo Fortress (gz sim binary) — required by ros_gz_sim launch
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl lsb-release gnupg \
    && curl -sSL https://packages.osrfoundation.org/gazebo.gpg -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list \
    && apt-get update && apt-get install -y --no-install-recommends ignition-fortress \
    && rm -rf /var/lib/apt/lists/*

# ROS sim/studio stack + rosdep prerequisites lucy_bringup/camera_ros expect from apt (see rosdep in install.sh).
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-gz-sim \
    ros-humble-ros-gz-bridge \
    ros-humble-gz-ros2-control \
    ros-humble-ros2-control \
    ros-humble-ros2-control-cmake \
    ros-humble-ros2-controllers \
    ros-humble-xacro \
    ros-humble-rosbridge-server \
    ros-humble-realsense2-camera \
    python3-colcon-common-extensions \
    python3-rosdep2 \
    python3-pytest-cov \
    python3-pytest-mock \
    gstreamer1.0-tools \
    gstreamer1.0-plugins-good \
    libgstreamer-plugins-good1.0-0 \
    && rosdep update \
    && rm -rf /var/lib/apt/lists/*

# Node 22 + yarn — lucy_control_panel (Vite dev server) runs inside this container
RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
    && apt-get install -y --no-install-recommends nodejs \
    && npm install -g yarn \
    && rm -rf /var/lib/apt/lists/*

# Workspace will be mounted at /workspace (lucy_ws)
WORKDIR /workspace
ENTRYPOINT ["/bin/bash"]
CMD ["-c", "source /opt/ros/humble/setup.bash && exec /bin/bash"]