Docker file for sim image fixed

docker_stuff/docker_sim2/Dockerfile

@@ -26,8 +26,8 @@ RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 ENV LANG=en_US.UTF-8
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt-get update && apt-get upgrade -y && apt-get install -y ros-$ros_distro-desktop ros-$ros_distro-navigation2 ros-$ros_distro-nav2-bringup \
-    ros-$ros_distro-slam-toolbox ros-$ros_distro-test-msgs ros-$ros_distro-gazebo-ros \
+RUN apt-get update && apt-get upgrade -y && apt-get install -y ros-${ros_distro}-desktop ros-${ros_distro}-navigation2 ros-${ros_distro}-nav2-bringup \
+    ros-${ros_distro}-slam-toolbox ros-${ros_distro}-test-msgs ros-${ros_distro}-gazebo-ros \
     python3-colcon-common-extensions python3-flake8 python3-flake8-blind-except python3-flake8-builtins \
     python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-docstrings \
     python3-flake8-import-order python3-flake8-quotes python3-pytest python3-pytest-cov python3-pytest-repeat \
@@ -55,27 +55,28 @@ RUN rosdep fix-permissions && rosdep update
 
 # Set ENV
 USER user1
-RUN mkdir /home/user1/robotology
+RUN sudo mkdir /usr/local/src/robot
 ENV robotology_install_user user1
-ENV user1_home /home/$robotology_install_user
-ENV robotology_install_folder $user1_home/robotology
+ENV user1_home /home/${robotology_install_user}
+ENV robotology_install_folder /usr/local/src/robot
+RUN sudo chown -R ${robotology_install_user}:${robotology_install_user} ${robotology_install_folder}
 
 #gazebo models
 RUN mkdir -p $user1_home/.gazebo && git clone https://github.com/osrf/gazebo_models $user1_home/.gazebo/models
 
 # Build ycm
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/ycm.git -b master
 RUN cd ycm && mkdir build && cd build && \
     cmake .. \
     -DCMAKE_BUILD_TYPE=Release && \
     make -j11
-ENV YCM_DIR=/home/user1/robotology/ycm/build
+ENV YCM_DIR=${robotology_install_folder}/ycm/build
 
 # Build YARP
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/yarp.git -b $yarp_branch
 RUN cd yarp && mkdir build && cd build && \
     cmake .. \
@@ -112,20 +113,20 @@ RUN cd yarp && mkdir build && cd build && \
     -DENABLE_yarppm_depthimage_to_mono=ON \
     -DENABLE_yarppm_depthimage_to_rgb=ON && \
     make -j11
-ENV YARP_ROOT=$robotology_install_folder/yarp
-ENV YARP_DIR=$robotology_install_folder/yarp/build
+ENV YARP_ROOT=${robotology_install_folder}/yarp
+ENV YARP_DIR=${robotology_install_folder}/yarp/build
 
 # YARP bindings
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN cd yarp && cd bindings &&  mkdir build && cd build && cmake .. -DCREATE_PYTHON=ON && make -j11
 
 # Install YARP completion
 RUN sudo ln -s /usr/local/share/bash-completion/completions/yarp /usr/share/bash-completion/completions
 
 # Build icub-main
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/icub-main.git -b devel
 RUN cd icub-main && mkdir build && cd build && \
     cmake .. \
@@ -135,112 +136,111 @@ RUN cd icub-main && mkdir build && cd build && \
     -DICUBMAIN_COMPILE_SIMULATORS=OFF \
     -DENABLE_icubmod_gazecontrollerclient=ON && \
     make -j11
-ENV ICUB_ROOT=$robotology_install_folder/icub-main
-ENV ICUB_DIR=$robotology_install_folder/icub-main/build
+ENV ICUB_ROOT=${robotology_install_folder}/icub-main
+ENV ICUB_DIR=${robotology_install_folder}/icub-main/build
 
 # Build robots-configuration devel
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/randaz81/robots-configuration.git -b R1SN003_ros2
 
 # Build navigation
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/navigation.git -b master
-RUN cd navigation && mkdir build && cd build && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; cmake .. -DCMAKE_BUILD_TYPE=Release -DNAVIGATION_USE_NWC=ON -DNAVIGATION_USE_ROS2=ON" && make -j11
-ENV navigation_ROOT=$robotology_install_folder/navigation
-ENV navigation_DIR=$robotology_install_folder/navigation/build
+RUN cd navigation && mkdir build && cd build && /bin/bash -c "source /opt/ros/${ros_distro}/setup.bash; cmake .. -DCMAKE_BUILD_TYPE=Release -DNAVIGATION_USE_NWC=ON -DNAVIGATION_USE_ROS2=ON" && make -j11
+ENV navigation_ROOT=${robotology_install_folder}/navigation
+ENV navigation_DIR=${robotology_install_folder}/navigation/build
 
 # Gazebo
 RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 RUN wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 RUN sudo apt-get update && sudo apt-get install -y gazebo-common gazebo libgazebo-dev mesa-utils && sudo rm -rf /var/lib/apt/lists/*
 
 # Gazebo Plugins
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/gazebo-yarp-plugins -b devel
 RUN cd gazebo-yarp-plugins && mkdir build && cd build && \
     cmake .. \
     -DCMAKE_BUILD_TYPE=Release \
     -DGAZEBO_YARP_PLUGINS_DISABLE_IMPLICIT_NETWORK_WRAPPERS=ON && \
     make -j4
-ENV GazeboYARPPlugins_ROOT=$robotology_install_folder/gazebo-yarp-plugins
-ENV GazeboYARPPlugins_DIR=$robotology_install_folder/gazebo-yarp-plugins/build
+ENV GazeboYARPPlugins_ROOT=${robotology_install_folder}/gazebo-yarp-plugins
+ENV GazeboYARPPlugins_DIR=${robotology_install_folder}/gazebo-yarp-plugins/build
 
 # CER
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/elandini84/cer.git -b fix/compatibility/yarp_master
 RUN cd cer && mkdir build && cd build && cmake .. \
                 -DCMAKE_BUILD_TYPE=Release \
                 -DENABLE_cermod_cerDoubleLidar=ON \
                 -DENABLE_cermod_cerOdometry=ON \
                 -DENABLE_cermod_tripodMotionControl=ON && make -j11
-ENV CER_ROOT=$robotology_install_folder/cer
-ENV CER_DIR=$robotology_install_folder/cer/build
+ENV CER_ROOT=${robotology_install_folder}/cer
+ENV CER_DIR=${robotology_install_folder}/cer/build
 
 # YARP-DEVICES-ROS2
-WORKDIR $robotology_install_folder
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/yarp-devices-ros2 -b master
-RUN cd yarp-devices-ros2/ros2_interfaces_ws && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; colcon build"
-RUN cd yarp-devices-ros2 && mkdir build && cd build && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; source /home/user1/robotology/yarp-devices-ros2/ros2_interfaces_ws/install/setup.bash; cmake .. -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs=ON -DYARP_ROS2_USE_SYSTEM_yarp_control_msgs=ON; make -j11"
+RUN cd yarp-devices-ros2/ros2_interfaces_ws && /bin/bash -c "source /opt/ros/${ros_distro}/setup.bash; colcon build"
+RUN cd yarp-devices-ros2 && mkdir build && cd build && /bin/bash -c "source /opt/ros/${ros_distro}/setup.bash; source ${robotology_install_folder}/yarp-devices-ros2/ros2_interfaces_ws/install/setup.bash; cmake .. -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs=ON -DYARP_ROS2_USE_SYSTEM_yarp_control_msgs=ON; make -j11"
 
 # CER-Sim stuff
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/cer-sim -b ros2
-RUN cd cer-sim/colcon_ws && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; colcon build; source /home/user1/robotology/cer-sim/colcon_ws/install/local_setup.bash"
+RUN cd cer-sim/colcon_ws && /bin/bash -c "source /opt/ros/${ros_distro}/setup.bash; colcon build; source ${robotology_install_folder}/cer-sim/colcon_ws/install/local_setup.bash"
 
 # Build icub-contrib-common
-USER $robotology_install_user
-WORKDIR $robotology_install_folder
+USER ${robotology_install_user}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/robotology/icub-contrib-common.git
-RUN cd icub-contrib-common && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$robotology_install_folder/iCubContrib && sudo make -j11 install
-ENV ICUBcontrib_DIR=$robotology_install_folder/iCubContrib/build
+RUN cd icub-contrib-common && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=${robotology_install_folder}/iCubContrib && make -j11 install
+ENV ICUBcontrib_DIR=${robotology_install_folder}/iCubContrib/build
 
-USER $robotology_install_user
+USER ${robotology_install_user}
 
 # Set environmental variables
-RUN echo "PS1='\[\e]0;\u \w\a\]\[\033[01;32m\]\u\[\033[00m\] \[\033[01;34m\]\w\[\033[00m\] \$ '" >> /home/$robotology_install_user/.bashrc
-RUN echo "source /opt/ros/$ros_distro/setup.bash" >> /home/user1/.bashrc
-RUN echo "source /home/user1/robotology/yarp-devices-ros2/ros2_interfaces_ws/install/local_setup.bash" >> /home/user1/.bashrc
-ENV TOUR_GUIDE_ROBOT_SOURCE_DIR=/home/user1/tour-guide-robot
-ENV ROBOT_CODE=/home/user1/robotology
+RUN echo "PS1='\[\e]0;\u \w\a\]\[\033[01;32m\]\u\[\033[00m\] \[\033[01;34m\]\w\[\033[00m\] \$ '" >> /home/${robotology_install_user}/.bashrc
+RUN echo "source /opt/ros/${ros_distro}/setup.bash" >> /home/user1/.bashrc
+RUN echo "source ${robotology_install_folder}/yarp-devices-ros2/ros2_interfaces_ws/install/local_setup.bash" >> /home/user1/.bashrc
+ENV TOUR_GUIDE_ROBOT_SOURCE_DIR=${robotology_install_folder}/tour-guide-robot
+ENV ROBOT_CODE=${robotology_install_folder}
 ENV CER_SIM_ROOT_DIR=${ROBOT_CODE}/cer-sim
-ENV PATH=$PATH:$YARP_DIR/bin:$navigation_DIR/bin:$CER_DIR/bin:$ICUB_DIR/bin:$ICUB_DIR:$robotology_install_folder/iCubContrib/bin:/home/user1/robotology/Groot/build:/home/user1/tour-guide-robot/build/bin:${TOUR_GUIDE_ROBOT_SOURCE_DIR}/app/navigation2/scripts:${TOUR_GUIDE_ROBOT_SOURCE_DIR}/app/headSynchronizer/scripts
+ENV PATH=$PATH:$YARP_DIR/bin:$navigation_DIR/bin:$CER_DIR/bin:$ICUB_DIR/bin:$ICUB_DIR:${robotology_install_folder}/iCubContrib/bin:${robotology_install_folder}/Groot/build:${robotology_install_folder}/tour-guide-robot/build/bin:${TOUR_GUIDE_ROBOT_SOURCE_DIR}/app/navigation2/scripts:${TOUR_GUIDE_ROBOT_SOURCE_DIR}/app/headSynchronizer/scripts
 ENV DISPLAY=:1
-ENV YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$navigation_DIR/share/navigation:$user1_home/tour-guide-robot/build/share/tour-guide-robot:$CER_DIR/share/CER:$ICUBcontrib_DIR/share/ICUBcontrib:$robotology_install_folder/yarp-devices-ros2/build/share/yarp:$robotology_install_folder/yarp-devices-ros2/build/share/yarp-devices-ros2
-ENV LD_LIBRARY_PATH=$robotology_install_folder/yarp/build/lib/yarp/
+ENV YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$navigation_DIR/share/navigation:$user1_home/tour-guide-robot/build/share/tour-guide-robot:$CER_DIR/share/CER:$ICUBcontrib_DIR/share/ICUBcontrib:${robotology_install_folder}/yarp-devices-ros2/build/share/yarp:${robotology_install_folder}/yarp-devices-ros2/build/share/yarp-devices-ros2
+ENV LD_LIBRARY_PATH=${robotology_install_folder}/yarp/build/lib/yarp/
 ENV GAZEBO_PLUGIN_PATH=$GazeboYARPPlugins_DIR/lib
-ENV GAZEBO_MODEL_PATH=$robotology_install_folder/cer-sim/gazebo/
+ENV GAZEBO_MODEL_PATH=${robotology_install_folder}/cer-sim/gazebo/
 ENV YARP_COLORED_OUTPUT=1
 ENV QT_X11_NO_MITSHM=1
-ENV PYTHONPATH=$PYTHONPATH:/home/user1/robotology/yarp/bindings/build/lib/python3/
+ENV PYTHONPATH=$PYTHONPATH:${robotology_install_folder}/yarp/bindings/build/lib/python3/
 ENV YARP_CLOCK=/clock
-#ENV CYCLONEDDS_URI=/home/user1/tour-guide-robot/app/navigation2/conf/cyclone_dds_settings.xml
+#ENV CYCLONEDDS_URI=${robotology_install_folder}/tour-guide-robot/app/navigation2/conf/cyclone_dds_settings.xml
 
 # Manage yarp port
 EXPOSE 10000/tcp 10000/udp
 
-# Launch bash from $robotology_install_folder
-USER $robotology_install_user
-RUN sudo chown -R $robotology_install_user:$robotology_install_user /opt/ros && sudo chown -R $robotology_install_user:$robotology_install_user /home/$robotology_install_user/.ros
+# Launch bash from ${robotology_install_folder}
+USER ${robotology_install_user}
+RUN sudo chown -R ${robotology_install_user}:${robotology_install_user} /opt/ros && sudo chown -R ${robotology_install_user}:${robotology_install_user} /home/${robotology_install_user}/.ros
 
-# Konstantinos Karapas stuff only
-WORKDIR ${user1_home}
+WORKDIR ${robotology_install_folder}
 RUN git clone https://github.com/elandini84/yarp-web-teleop.git
 RUN git clone https://github.com/elandini84/libfvad && cd libfvad && autoreconf -i && ./configure && sudo make install
-RUN git clone https://github.com/hsp-iit/tour-guide-robot -b $ros_distro
+RUN git clone https://github.com/hsp-iit/tour-guide-robot -b ${ros_distro}
 RUN cd tour-guide-robot && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release && make -j11
 
 # R1 NETWORK CONFIG
 RUN yarp conf 172.17.0.1 10000
 
 # Possibly temporary ROS2 network middleware change
 RUN sudo apt-get update && sudo apt-get install -y cyclonedds-dev cyclonedds-tools \
-    ros-$ros_distro-cyclonedds-dbgsym ros-$ros_distro-cyclonedds ros-$ros_distro-rmw-cyclonedds-cpp \
-    ros-$ros_distro-rmw-cyclonedds-cpp-dbgsym libcycloneddsidl0 && \
+    ros-${ros_distro}-cyclonedds-dbgsym ros-${ros_distro}-cyclonedds ros-${ros_distro}-rmw-cyclonedds-cpp \
+    ros-${ros_distro}-rmw-cyclonedds-cpp-dbgsym libcycloneddsidl0 && \
     sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp