Dockerfile

# Getting base Image
FROM monkey/humble/gpu:tensorrt-opencv-zed

# Install required Packages 
RUN apt-get update \
    && apt-get install -y \
    ros-humble-ros2-control \
    ros-humble-moveit \
    ros-humble-joint-trajectory-controller \
    ros-humble-joint-state-broadcaster \
    ros-humble-joint-state-publisher-gui \
    terminator \
    gedit \
    && pip3 install canopen \
    && rm -rf /var/lib/apt/lists/*

RUN pip install canopen


WORKDIR /root/dep_ws/src

RUN git clone https://github.com/aaronraj11/moveit_task_constructor_humble.git -b humble \
    && git clone https://github.com/ros-planning/moveit_visual_tools.git \
    # Build cv_bridge from source
    && git clone https://github.com/ros-perception/vision_opencv.git -b humble \
    && git clone https://github.com/PickNikRobotics/bio_ik.git -b ros2

    
WORKDIR /root/dep_ws
RUN . /opt/ros/$ROS_DISTRO/setup.sh \
    && apt-get update \
    && rosdep fix-permissions \
    && rosdep update \
    && rosdep install -i --from-paths src -y \
    && colcon build \
    && rm -rf /var/lib/apt/lists/*    

# make workspace directory
RUN mkdir -p /root/ws_moveit2/src
COPY cutting_planner /root/ws_moveit2/src/cutting_planner
COPY ffb_detection /root/ws_moveit2/src/ffb_detection
COPY segmentation_cpp /root/ws_moveit2/src/segmentation_cpp
COPY segmentation_interfaces /root/ws_moveit2/src/segmentation_interfaces
# ----------------------------------------------------------------------
COPY zeroerr_control_python /root/ws_moveit2/src/zeroerr_control_python
COPY zeroerr_controller /root/ws_moveit2/src/zeroerr_controller
COPY zeroerr_description /root/ws_moveit2/src/zeroerr_description
COPY zeroerr_interfaces /root/ws_moveit2/src/zeroerr_interfaces
COPY zeroerr_moveit_config /root/ws_moveit2/src/zeroerr_moveit_config
COPY robot_teleop /root/ws_moveit2/src/robot_teleop

# make directory for AI model to live in
WORKDIR /root/ai_model
COPY ai_model /root/ai_model



WORKDIR /root/ws_moveit2
RUN . /opt/ros/$ROS_DISTRO/setup.sh \
    # && cd /root/ws_moveit2/ \
    && source /root/dep_ws/install/setup.bash \
    && colcon build

USER root

# Set up .bashrc scripts
RUN echo "source /root/ws_moveit2/install/setup.bash" >> /root/.bashrc 
RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc 
    

WORKDIR /root

CMD ["bash"]