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# Используем базовый образ ROS Noetic с поддержкой Perception
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FROM ros:noetic-perception
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# Установка необходимых системных пакетов
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RUN apt-get update && apt-get install -y \
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python3-pip \
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ros-noetic-xacro \
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ros-noetic-joy \
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build-essential \
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curl \
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unzip \
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cmake \
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libglib2.0-dev \
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&& rm -rf /var/lib/apt/lists/*
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# Установка необходимых Python-библиотек
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RUN pip3 install \
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numpy==1.24.4 \
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control==0.9.4 \
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pyrr==0.10.3 \
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pybullet==3.2.5 \
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pyserial==3.5 \
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pyqtgraph==0.13.3 \
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gymnasium \
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pcl==0.0.0.post1 \
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pyquaternion==0.9.9 \
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evdev \
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pyudev \
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Sphinx==7.1.2 \
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myst-parser==2.0.0 \
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sphinx-rtd-theme==1.3.0 \
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lcm==1.4.4
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# Скачивание и установка LCM
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RUN curl -L -O https://github.com/lcm-proj/lcm/archive/refs/tags/v1.5.0.zip \
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&& unzip v1.5.0.zip \
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&& cd lcm-1.5.0 \
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&& mkdir build && cd build \
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&& cmake .. \
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&& make \
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&& make install
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# Настройка рабочего пространства ROS
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RUN mkdir -p /root/mors_ws/src
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WORKDIR /root/mors_ws
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# Копируем и собираем ROS-пакеты
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COPY mors_base /root/mors_ws/src/mors_base
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COPY mors_pc /root/mors_ws/src/mors_pc
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COPY whole_body_state_msgs /root/mors_ws/src/whole_body_state_msgs
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# Сборка рабочего пространства
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RUN bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
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# Добавление путей к ROS в .bashrc
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RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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RUN echo "source /root/mors_ws/devel/setup.bash" >> ~/.bashrc
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# Установка рабочей директории по умолчанию
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WORKDIR /root/mors_ws
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