fe15edcbd5
- Unity frontend with ROS-TCP-Connector for ROS2 communication - Docker-based ROS2 Jazzy backend with MoveIt2 integration - Support for 1-9 DOF manipulators - UR5 robot configuration and URDF files - Assembly task feasibility analysis tools - Comprehensive documentation and deployment guides 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
87 lines
2.4 KiB
Docker
87 lines
2.4 KiB
Docker
# Unity-ROS2 System Docker Image
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# Use official ROS2 Jazzy Desktop image as base
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FROM osrf/ros:jazzy-desktop
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# Set environment variables
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DOMAIN_ID=0
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ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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ENV PYTHONUNBUFFERED=1
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ENV ROS_DISTRO=jazzy
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# Install additional system dependencies
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RUN apt-get update && apt-get install -y \
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curl \
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wget \
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git \
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vim \
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nano \
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net-tools \
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iputils-ping \
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python3-pip \
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python3-dev \
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build-essential \
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&& rm -rf /var/lib/apt/lists/*
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# Install ROS2 related packages
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RUN apt-get update && apt-get install -y \
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ros-jazzy-rosbridge-suite \
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ros-jazzy-moveit \
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ros-jazzy-moveit-planners \
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ros-jazzy-moveit-plugins \
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ros-jazzy-moveit-ros-planning-interface \
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ros-jazzy-moveit-servo \
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ros-jazzy-ros2-control \
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ros-jazzy-ros2-controllers \
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ros-jazzy-joint-state-publisher \
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ros-jazzy-joint-state-publisher-gui \
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ros-jazzy-robot-state-publisher \
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ros-jazzy-xacro \
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ros-jazzy-urdf \
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ros-jazzy-tf2-tools \
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ros-jazzy-rqt \
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ros-jazzy-rqt-common-plugins \
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&& rm -rf /var/lib/apt/lists/*
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# Install Python dependencies
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RUN pip3 install --no-cache-dir --break-system-packages \
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numpy \
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scipy \
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matplotlib \
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transforms3d \
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roslibpy
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# Create workspace and clone ROS-TCP-Endpoint
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WORKDIR /ros2_ws
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RUN mkdir -p /ros2_ws/src && \
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cd /ros2_ws/src && \
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git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git -b main-ros2
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# Build ROS-TCP-Endpoint
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RUN /bin/bash -c "source /opt/ros/jazzy/setup.bash && \
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cd /ros2_ws && \
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colcon build --packages-select ros_tcp_endpoint --symlink-install"
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# Source ROS2 environment in bashrc for all sessions
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RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
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echo "if [ -f /ros2_ws/install/setup.bash ]; then source /ros2_ws/install/setup.bash; fi" >> /root/.bashrc
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# Create startup script
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RUN echo '#!/bin/bash\n\
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source /opt/ros/jazzy/setup.bash\n\
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if [ -f /ros2_ws/install/setup.bash ]; then\n\
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source /ros2_ws/install/setup.bash\n\
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fi\n\
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echo "ROS2 Jazzy environment ready"\n\
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echo "ROS_DOMAIN_ID: $ROS_DOMAIN_ID"\n\
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echo "RMW_IMPLEMENTATION: $RMW_IMPLEMENTATION"\n\
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exec "$@"' > /entrypoint.sh && \
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chmod +x /entrypoint.sh
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# Expose ports (TCP communication ports)
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EXPOSE 10000-10010
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# Set entry point
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]
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