Added buildable docker, finally

CroboticSolutions · Jun 4, 2024 · c0dfa24 · c0dfa24
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diff --git a/ros2/humble/kinova/Dockerfile b/ros2/humble/kinova/Dockerfile
@@ -123,24 +123,41 @@ RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
 WORKDIR ${COLCON_WS}
 RUN sudo apt install ros-${ROS2_DISTRO}-ament-cmake-python
 RUN sudo apt-get install ros-${ROS2_DISTRO}-rviz-visual-tools 
-RUN bash -c "source /opt/ros/humble/setup.sh; source ~/.bashrc; MAKEFLAGS="-j{nproc-1}" colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN bash -c "source /opt/ros/humble/setup.sh; source ~/.bashrc; MAKEFLAGS="-j${nproc-1}" colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release"
 WORKDIR ${COLCON_WS}/src
 RUN git clone https://github.com/moveit/moveit2_tutorials.git -b ${ROS2_DISTRO}
 RUN git clone https://github.com/moveit/moveit_visual_tools.git -b ros2
 RUN git clone https://github.com/PickNikRobotics/graph_msgs.git -b ros2
 WORKDIR ${COLCON_WS}
-RUN bash -c "source /opt/ros/humble/setup.sh; source ~/.bashrc; MAKEFLAGS="-j{nproc-1}" colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN bash -c "source /opt/ros/humble/setup.sh; source ~/.bashrc; MAKEFLAGS="-j${nproc-1}" colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release"
 RUN echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
 
 # Create ros2_kortex repository
-WORKDIR /root
+#RUN apt-get update 
+#RUN apt-get install python3-pip -y
+#RUN pip install git+https://github.com/catkin/catkin_tools.git
+# RUN apt-get install -y python3-catkin-tools
+#WORKDIR /root
+#RUN git clone https://github.com/tylerjw/serial.git 
+#WORKDIR /root/serial 
+#RUN mkdir build 
+#WORKDIR /root/serial/build
+#RUN cmake ..
+#RUN make 
+#RUN make install
+
+#RUN apt-get install -y libserial-dev
 RUN mkdir -p kortex2_ws/src
 WORKDIR /root/kortex2_ws/src
-RUN git clone https://github.com/PickNikRobotics/ros2_kortex.git 
-RUN git clone https://github.com/tylerjw/serial.git --single-branch ros2
+RUN git clone https://github.com/tylerjw/serial.git 
+WORKDIR /root/kortex2_ws/src/serial 
+RUN git checkout ros2
+WORKDIR /root/kortex2_ws/src/
 RUN git clone https://github.com/PickNikRobotics/ros2_robotiq_gripper.git 
-RUN rosdep install --ignore-src --from-paths src -y -r
-RUN bash -c "source /opt/ros/humble/setup.bash; MAKEFLAGS="-j{nproc-1}" colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN git clone https://github.com/PickNikRobotics/ros2_kortex.git 
+WORKDIR /root/kortex2_ws
+#RUN rosdep install --ignore-src --from-paths src -y -r
+RUN bash -c "source /opt/ros/humble/setup.bash; colcon build"
 RUN echo "source /root/kortex2_ws/install/setup.bash"
 
 CMD ["bash"]
diff --git a/ros2/humble/kinova/README.md b/ros2/humble/kinova/README.md
@@ -34,3 +34,6 @@ And after that:
 `dev_ws`: is the workspace where we develop. 
 
 
+#### Possible issues: 
+
+- [ros2_robotiq_gripper](https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/21)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -34,3 +34,6 @@ And after that:
		`dev_ws`: is the workspace where we develop.


		#### Possible issues:

		- [ros2_robotiq_gripper](https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/21)