Dockerfile

FROM nvcr.io/nvidia/isaac-sim:4.2.0
ENV TZ=Europe/Berlin
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone

ENV DEBIAN_FRONTEND=noninteractive
RUN apt update -y && apt install -y locales
RUN locale-gen en_US en_US.UTF-8
RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
RUN LANG=en_US.UTF-8
RUN apt update -y && apt install -y software-properties-common
RUN add-apt-repository universe
RUN apt update -y && apt install curl -y
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt update -y && apt install -y ros-humble-desktop
RUN apt update -y && apt install -y \
    ros-humble-vision-msgs \
    ros-humble-ackermann-msgs \
    ros-humble-trajectory-msgs \
    ros-humble-control-msgs \
    ros-humble-moveit-msgs
RUN apt update -y && apt install -y ros-humble-xacro
RUN apt update -y && apt install -y ros-humble-rviz2
RUN apt update -y && apt install -y ros-humble-hardware-interface
RUN apt update -y && apt install -y ros-humble-teleop-twist-keyboard


RUN apt update -y && apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential -y
RUN apt update -y && apt install python3-colcon-common-extensions -y

COPY dds_profile.xml /opt/misc/dds_profile.xml
ENV FASTRTPS_DEFAULT_PROFILES_FILE=/opt/misc/dds_profile.xml

ARG DOMAIN_ID=0
RUN echo "export ROS_DOMAIN_ID=${DOMAIN_ID}" >> /etc/bash.bashrc
RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc

# PYTHONPATH currently not defined before sourcing ros, but if that changes: ENV PYTHONPATH="${PYTHONPATH}:/isaac-sim/scripts:"
ENV PYTHONPATH="/isaac-sim/scripts:"
RUN ./python.sh -m pip install imageio[ffmpeg]