Dockerfile

FROM pollenrobotics/reachy2_core:1.7.5.9_release


# Switch to root for package installation
USER root




# The purpose of this dockerfile is to deploy planning algorithms in the real Reachy 2 robot using the MoveIt 2 perception pipeline
# The Docker image is built on pollenrobotics/reachy2_core:1.7.5.9_release


# Delete the old key
RUN set -eux; \
    apt-key del F42ED6FBAB17C654; \
    # Make a directory for the new key
    mkdir -p /usr/share/keyrings; \
    # Transfer the key from ROS repository's GPG signing key using curl and save it as /usr/share/keyrings/ros-archive-keyring.gpg
    curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg; \
    # Give permissions to the key file. 6 = owner can read and write, 4 = users can read, 4 = others can read
    chmod 644 /usr/share/keyrings/ros-archive-keyring.gpg; \
    # Remove the old ROS2 Repository Configuration
    rm -f /etc/apt/sources.list.d/ros2-latest.list; \
    # Generate a line that describes the ROS 2 package repository and save that line into an APT configuration file so that APT knows where to find ROS 2 packages
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list; \
    # Deletes all downloaded APT package lists to reduce the final Docker image size, it does not uninstall any packages.
    rm -rf /var/lib/apt/lists/*;


RUN set -eux; \
    apt-get update; \
    apt-get --fix-broken install -y; \
    apt-get upgrade -y; \
    apt-get install -y \
        ros-humble-point-cloud-transport \
        ros-humble-image-transport-plugins \
        ros-humble-image-view \
        ros-humble-moveit* \
        ros-humble-gazebo-ros-pkgs \
        ros-humble-teleop-twist-keyboard \
        protobuf-compiler \
        libprotobuf-dev; \
    apt-get clean; \
    rm -rf /var/lib/apt/lists/*
# Deletes all downloaded APT package lists to reduce the final Docker image size, it does not uninstall any packages.
RUN rm -rf /var/lib/apt/lists/*;

RUN apt-get update && \
    apt-get --fix-broken install -y; \
    apt-get install -y \
    git \
    build-essential \
    cmake \
    libssl-dev \
    libusb-1.0-0-dev \
    pkg-config \
    libgtk-3-dev \
    libglfw3-dev \
    libgl1-mesa-dev \
    libglu1-mesa-dev && \
    git clone https://github.com/IntelRealSense/librealsense.git /tmp/librealsense && \
    cd /tmp/librealsense && \
    git checkout v2.57.2 && \
    mkdir build && cd build && \
    cmake .. \
        -DCMAKE_BUILD_TYPE=Release \
        -DBUILD_EXAMPLES=false \
        -DBUILD_GRAPHICAL_EXAMPLES=false \
        -DFORCE_RSUSB_BACKEND=true \
        -DBUILD_PYTHON_BINDINGS=false && \
    make -j$(nproc) && \
    make install && \
    ldconfig && \
    rm -rf /tmp/librealsense && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*


# Switch to reachy user for all development work
USER reachy

WORKDIR /home/reachy/reachy_ws/src

# Clone and build as reachy user to avoid permission issues
RUN git clone --recurse-submodules https://github.com/pal-robotics/realsense_gazebo_plugin.git -b humble-devel


# access the reachy2_core directory and reset to the ERL fork develop branch

WORKDIR /home/reachy/reachy_ws/src/reachy2_core

RUN git remote set-url origin https://github.com/ExistentialRobotics/reachy2_core.git && \
    git fetch origin && \
    git checkout develop && \
    git reset --hard origin/develop && \
    git submodule update --init --recursive

# submodules /home/reachy/reachy_ws/src/reachy2_core/reachy_moveit_config_ros2

WORKDIR /home/reachy/reachy_ws

# Build the complete ROS 2 workspace

# Source first
RUN /bin/bash -c "source /opt/ros/humble/setup.bash && colcon build"
RUN /bin/bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
# Automatically source ROS 2 and the Reachy workspace, the user doesn't have to source

RUN echo "source /opt/ros/humble/setup.bash" >> /home/reachy/.bashrc && \
    echo "source /home/reachy/reachy_ws/install/setup.bash" >> /home/reachy/.bashrc

# When the container starts, open a Bash terminal so the user can interact with the container using the command line
CMD ["/bin/bash"]

# Create Reachy configuration override directory
# ReachyConfig expects ~/.reachy_config_override to be a directory containing optional YAML configuration overrides, if not present, it raises an Error when running Sims 
RUN mkdir -p /home/reachy/.reachy_config_override
# Make reachy (UID 1000) the owner and root (GID 0) the group of this folder and everything inside it
RUN chown -R 1000:0 /home/reachy/.reachy_config_override