amd

Author: woensug-choi

.docker/jazzy.amd64.dockerfile

@@ -1,6 +1,6 @@
 ARG ROS_DISTRO="jazzy"
 FROM osrf/ros:$ROS_DISTRO-desktop-full
-ARG BRANCH="ros2"
+ARG BRANCH="dockertest"
 
 # Install Utilities
 # hadolint ignore=DL3008
@@ -39,7 +39,7 @@ RUN adduser --shell /bin/bash --disabled-password --gecos '' $USER \
 
 # Install ROS-Gazebo framework
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Set up Dave workspace
@@ -66,4 +66,5 @@ RUN touch /ros_entrypoint.sh && sed --in-place --expression \
 
 # Set User as user
 USER $USER
-RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc  && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc

extras/ros-jazzy-binary-gz-harmonic-source-install.sh

@@ -89,7 +89,7 @@ sudo apt update && apt install -y \
 
 echo
 echo -e "\033[34mSetting up Gazebo source directory...\033[0m"
-mkdir -p ~/gazebo/src && cd ~/gazebo/src || exit
+mkdir -p /opt/gazebo/src && cd /opt/gazebo/src || exit
 curl -O https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml
 vcs import < collection-harmonic.yaml
 
@@ -98,7 +98,7 @@ echo -e "\033[34mUpdating package list and installing dependencies...\033[0m"
 sudo apt -y install $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')
 
 echo -e "\033[34mBuilding the project with colcon...\033[0m"
-cd ~/gazebo || exit
+cd /opt/gazebo || exit
 # Build gz-physics with limited cores to avoid memory issues
 MAKEFLAGS="-j2" colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to gz-physics
 # Full build
@@ -109,6 +109,6 @@ echo -e "\033[32m============================================================\03
 echo -e "\033[32mROS-Gazebo Framework Installation completed. Awesome! 🤘🚀 \033[0m"
 echo -e "Following command will set-up ROS-Gazebo environment variables to run it"
 echo -e "\033[95msource /opt/ros/jazzy/setup.bash\033[0m"
-echo -e "\033[95msource ~/gazebo/install/setup.bash\033[0m"
+echo -e "\033[95msource /opt/gazebo/install/setup.bash\033[0m"
 echo -e "You may check ROS, and Gazebo version installed with \033[33mprintenv ROS_DISTRO\033[0m and \033[33mecho \$GZ_VERSION\033[0m"
 echo