FROM ros:kinetic

LABEL maintainer="iory ab.ioryz@gmail.com"

ENV ROS_DISTRO kinetic

RUN apt -q -qq update && \

DEBIAN_FRONTEND=noninteractive apt install -y \

software-properties-common \

wget \

apt-transport-https

RUN apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

RUN add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo xenial main"

RUN apt-get update -qq

RUN apt-get install librealsense2-dkms --allow-unauthenticated -y

RUN apt-get install librealsense2-dev --allow-unauthenticated -y

RUN apt -q -qq update && \

DEBIAN_FRONTEND=noninteractive apt install -y --allow-unauthenticated \

python-rosinstall \

python-catkin-tools \

ros-${ROS_DISTRO}-jsk-tools \

ros-${ROS_DISTRO}-rgbd-launch \

ros-${ROS_DISTRO}-image-transport-plugins \

ros-${ROS_DISTRO}-image-transport

RUN rosdep update

RUN mkdir -p /catkin_ws/src && cd /catkin_ws/src && \

git clone --depth 1 https://github.com/IntelRealSense/realsense-ros.git && \

git clone --depth 1 https://github.com/pal-robotics/ddynamic_reconfigure

RUN cd catkin_ws;

RUN mv /bin/sh /bin/sh_tmp && ln -s /bin/bash /bin/sh

RUN source /opt/ros/${ROS_DISTRO}/setup.bash; cd catkin_ws; catkin build -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release

RUN rm /bin/sh && mv /bin/sh_tmp /bin/sh

RUN touch /root/.bashrc && \

echo "source /catkin_ws/devel/setup.bash\n" >> /root/.bashrc && \

echo "rossetip\n" >> /root/.bashrc && \

echo "rossetmaster localhost"

RUN rm -rf /var/lib/apt/lists/*

COPY ./ros_entrypoint.sh /

ENTRYPOINT ["/ros_entrypoint.sh"]

CMD ["bash"]