gazebo_ros.recipe

Bootstrap: docker

From: osrf/ros:noetic-desktop-focal

%environment
  OUTPUT=/output
  export ROS_LOG_DIR=$OUTPUT
  export ROS_HOME=$OUTPUT

%labels
  MAINTAINER = Alexander Koenig 
  EMAIL = awckoenig@gmail.com 

%post
  apt-get -y update && apt-get -y upgrade
  apt -y update && apt -y upgrade

  echo "\n\n\n====INSTALLING GAZEBO DEPENDENCIES====\n\n\n"
  apt-get -y install wget gnupg2 lsb-release
  apt-get -y remove ".*gazebo.*" ".*sdformat.*" ".*ignition-math.*" ".*ignition-msgs.*" ".*ignition-transport.*"
  sh -c "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main' > /etc/apt/sources.list.d/gazebo-stable.list"
  wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  apt-get -y update
  wget https://raw.githubusercontent.com/ignition-tooling/release-tools/master/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh
  bash -c 'GAZEBO_MAJOR_VERSION=11 ROS_DISTRO=noetic . /tmp/dependencies.sh && echo $BASE_DEPENDENCIES $GAZEBO_BASE_DEPENDENCIES | tr -d "\\" | xargs apt-get -y install'

  echo "\n\n\n====INSTALLING DART 6====\n\n\n"
  apt-get -y install software-properties-common
  apt-add-repository ppa:dartsim
  apt-get -y update
  apt-get -y install libdart6-dev
  apt-get -y install libdart6-utils-urdf-dev

  echo "\n\n\n====INSTALLING GAZEBO 11====\n\n\n"
  apt -y install git
  git clone https://github.com/osrf/gazebo /tmp/gazebo
  cd /tmp/gazebo
  mkdir build && cd build
  cmake ../
  make -j4
  make install
  rm -r /tmp/gazebo

  echo "\n\n\n====INSTALLING PROJECT DEPENDENCIES====\n\n\n"
  apt-get -y install ros-noetic-ros-control ros-noetic-ros-controllers
  apt-get -y install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control