Dockerfile

# Copyright 2021 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# A Docker configuration script to build the Navigation2/Space ROS image.
#
# The script provides the following build arguments:
#
#   VCS_REF     - The git revision of the Space ROS source code (no default value).
#   VERSION     - The version of Space ROS (default: "preview")

FROM osrf/space_nav2:latest

# Define arguments used in the metadata definition
ARG VCS_REF
ARG VERSION="preview"

# Specify the docker image metadata
LABEL org.label-schema.schema-version="1.0"
LABEL org.label-schema.name="Navigation2 demo"
LABEL org.label-schema.description="Preview version of the Navigation2/Space ROS platform"
LABEL org.label-schema.vendor="Open Robotics"
LABEL org.label-schema.version=${VERSION}
LABEL org.label-schema.url="https://github.com/space-ros"
LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
LABEL org.label-schema.vcs-ref=${VCS_REF}

# Disable prompting during package installation
ARG DEBIAN_FRONTEND=noninteractive

# Define workspace locations
ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws

# Setup mars_rover demo
# Install map file for localization
COPY mars_map* /home/spaceros-user/nav2_ws

# Install nav2 config file for mars rover demo
COPY nav2_params.yaml /home/spaceros-user/nav2_ws

# Set up the entrypoint
COPY ./entrypoint.sh /
ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]