Singularityfile.def

Bootstrap: docker
From: ros:melodic

%setup
    mkdir -p ${SINGULARITY_ROOTFS}/jackal_ws/src

%files
    . /jackal_ws/src/nav-competition-icra2022

%post -c /bin/bash
    apt -y update; apt-get -y install python3-venv build-essential
    apt-get -y install protobuf-compiler libprotobuf-dev libglib2.0-dev libc6-dev glibc-source
    apt-get -y install gazebo9 libgazebo9-dev install libjansson-dev libboost-dev imagemagick libtinyxml-dev mercurial cmake
    python3 -m venv /venv
    export PATH="/venv/bin:$PATH"
    pip3 install --upgrade pip
    pip3 install defusedxml rospkg netifaces numpy jupyter scipy matplotlib 
    pip3 install casadi

    apt-get install -y ros-melodic-desktop-full ros-melodic-gmapping \
    ros-melodic-robot-localization ros-melodic-joint-state-publisher-gui ros-melodic-navigation \
    ros-melodic-hector-gazebo-plugins ros-melodic-velodyne-description ros-melodic-rosdoc-lite \
    ros-melodic-twist-mux ros-melodic-sick-tim ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-pointgrey-camera-description \
    ros-melodic-interactive-marker-twist-server ros-melodic-lms1xx ros-melodic-laser-pipeline ros-melodic-controller-manager \
    ros-melodic-gazebo-dev ros-melodic-hector-mapping 



    cd /jackal_ws/src
    git clone https://github.com/jackal/jackal.git --branch melodic-devel
    git clone https://github.com/jackal/jackal_simulator.git --branch melodic-devel
    git clone https://github.com/jackal/jackal_desktop.git --branch melodic-devel

    source /opt/ros/melodic/setup.bash
    cd ..
    sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
    rosdep init
    rosdep update
    rosdep install -y --from-paths . --ignore-src --rosdistro=melodic
    source devel/setup.bash
    catkin_make

    echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
    echo "if [ ! -d /jackal_ws/devel ]; then ">> ~/.bashrc
    echo "  cd /jackal_ws" >> ~/.bashrc
    echo "  catkin_make" >> ~/.bashrc
    echo "else" >> ~/.bashrc
    echo "  source /jackal_ws/devel/setup.bash;" >> ~/.bashrc
    echo "fi" >> ~/.bashrc
    echo "alias python=python3" >> ~/.bashrc
    echo "cd /jackal_ws/src/" >> ~/.bashrc

%environment
    export PATH="/venv/bin:$PATH"