Initial import

Signed-off-by: Addisu Z. Taddese <[email protected]>

Dockerfile

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+# Choose from humble and iron
+ARG FROM_IMAGE=ros:humble
+
+FROM $FROM_IMAGE
+
+ARG OVERLAY_WS=/opt/ros/overlay_ws
+
+# Choose from fortress, garden, and harmonic.
+ARG GZ_VERSION=fortress
+
+
+RUN apt-get update \
+    && apt-get install -y lsb-release wget gnupg \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV GZ_VERSION=${GZ_VERSION}
+# Install Gazeob Harmonic
+RUN wget 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] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt-get update \
+    && apt-get install -y "gz-${GZ_VERSION}"  \
+    && rm -rf /var/lib/apt/lists/*
+
+
+# Install the matching ros_gz version, eg. `ros-humble-ros-gzharmonic`.
+# For Fortress, a suffix is not necessary, so it would just be `ros-humble-ros-gz`
+RUN apt-get update \
+    && apt-get install -y "ros-${ROS_DISTRO}-ros-gz${GZ_VERSION#fortress}"  \
+    && rm -rf /var/lib/apt/lists/*
+
+# Build turtlebot4 and ros_gz from source
+WORKDIR $OVERLAY_WS/src
+RUN git clone https://github.com/turtlebot/turtlebot4_simulator -b ${ROS_DISTRO}
+
+WORKDIR $OVERLAY_WS
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -y \
+      --from-paths src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build overlay source
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --symlink-install
+
+# source entrypoint setup
+ENV OVERLAY_WS $OVERLAY_WS
+RUN sed --in-place --expression \
+      '$isource "$OVERLAY_WS/install/setup.bash"' \
+      /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+CMD ["/bin/bash"]

README.md

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+# turtlebot4 Docker
+
+```bash
+docker run \
+--interactive \
+--privileged \
+--tty \
+--env DISPLAY \
+--name "test" \
+--volume /tmp:/tmp:rslave \
+--rm \
+tb4 \
+bash
+```