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Install ros2_control framework from binary packages (backport #308) #321

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Merged
merged 2 commits into from
Jun 28, 2023
Merged

Install ros2_control framework from binary packages (backport #308) #321

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aaaeeb2
Install ros2_control framework from binary packages (#308)
christophfroehlich Jun 27, 2023
460731f
Merge branch 'humble' into mergify/bp/humble/pr-308
christophfroehlich Jun 28, 2023
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8 changes: 3 additions & 5 deletions Dockerfile/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -10,16 +10,14 @@ RUN apt-get update \
COPY . /home/ros2_ws/src/ros2_control_demos

RUN cd /home/ros2_ws/src \
&& vcs import < ros2_control_demos/ros2_control_demos.${ROS_DISTRO}.repos \
&& apt-get update \
&& rosdep update \
&& rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO}
&& rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --skip-keys rviz2

RUN cd /home/ros2_ws/ \
&& . /opt/ros/${ROS_DISTRO}/setup.sh \
&& colcon build --merge-install
&& colcon build --merge-install --symlink-install

COPY Dockerfile/entrypoint.sh /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]

CMD ros2 launch ros2_control_demo_example_2 diffbot.launch.py start_rviz:=false
CMD ros2 launch ros2_control_demo_example_1 rrbot.launch.py start_rviz:=false