Dockerfile.ur3_erc

FROM osrf/ros:noetic-desktop-full

RUN apt-get update && apt-get upgrade -y && \
	apt-get install -y lsb-core g++ git

RUN rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init && rosdep update

#git
RUN apt-get install git

#moveit
RUN apt install ros-noetic-moveit -y

#controller
RUN apt install ros-noetic-ros-controllers* -y

#create workspace
RUN mkdir -p /catkin_ws/src

#universal_robot packages for simulation
RUN cd /catkin_ws/src && git clone  -b kinetic-devel https://github.com/ros-industrial/universal_robot.git
RUN rm -r /catkin_ws/src/universal_robot/ur_msgs

#roboticsgroup_gazebo_plugins
RUN cd /catkin_ws/src && git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins 

#ur3_sim
RUN cd /catkin_ws/src && git clone https://github.com/Michal-Bidzinski/UR3_sim.git


RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; cd /catkin_ws; catkin_make'

RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
RUN echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc