Dockerfile

FROM osrf/ros:kinetic-desktop

RUN apt-get update

RUN apt-get install -y sudo \
                       wget \
                       lsb-release \
                       mesa-utils \
					   python-pip 

RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list \
         && wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -

RUN apt-get update

WORKDIR /root

# ROS setting
RUN /bin/bash -c "mkdir -p catkin_ws/src"

RUN cd catkin_ws/src && /bin/bash -c "source /opt/ros/kinetic/setup.bash; catkin_init_workspace"

RUN cd catkin_ws && /bin/bash -c "source /opt/ros/kinetic/setup.bash; catkin_make"

RUN cd /root && echo source /root/catkin_ws/devel/setup.bash >> .bashrc

ENV ROS_PACKAGE_PATH=/root/catkin_ws:$ROS_PACKAGE_PATH

ENV ROS_WORKSPACE=/root/catkin_ws

RUN ln -sf /usr/include/eigen3/Eigen /usr/include/Eigen

RUN apt clean \
    && rm -rf /var/lib/apt/lists/*

RUN pip install pyyaml

# clone repository
WORKDIR /root

# dependencies
RUN cd catkin_ws/src && git clone https://github.com/amslabtech/amsl_navigation_managers --depth=1