demos.singularity.def

Bootstrap: docker
From: osrf/ros:rolling-desktop

%help
  This is a Singularity definition file for trying out the Drake ROS 2 demos.

%labels
  MAINTAINER Shane Loretz <sloretz@openrobotics.org>

%files
  ./ /opt/drake_ros2_demos

%environment
  SINGULARITY_SHELL=/bin/bash

%post
  export DEBIAN_FRONTEND=noninteractive

  # Get some tools used below
  apt-get update
  apt-get install -y \
    wget \
    python-is-python3 \
    python3-venv

  # Install ROS Rolling
  # TODO Use main repo when ROS Rolling sync happens
  echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list

  apt-get update
  apt-get --with-new-pkgs upgrade -y
  apt-get install -y \
    ros-rolling-sdformat-urdf

  echo ". /opt/ros/rolling/setup.bash" >> /etc/bash.bashrc

  # Install Drake as of December 2020
  cd /tmp
  wget https://drake-packages.csail.mit.edu/drake/nightly/drake-20201201-focal.tar.gz
  tar -xzf drake-*-focal.tar.gz
  rm drake-*-focal.tar.gz
  mv drake /opt

  apt-get install -y $(cat /opt/drake/share/drake/setup/packages-focal.txt)

  python3 -m venv /opt/drake --system-site-packages

  echo ". /opt/drake/bin/activate" >> /etc/bash.bashrc

  # Install the drake_ros Python package into the Drake venv

  . /opt/drake/bin/activate
  cd /opt/drake_ros2_demos/drake_ros
  python3 setup.py develop

  echo "cd /opt/drake_ros2_demos" >> /etc/bash.bashrc
  echo "export AMENT_PREFIX_PATH=\$AMENT_PREFIX_PATH:\$(pwd)" >> /etc/bash.bashrc

  # Cleanup apt files to save disk space
  rm -rf /var/lib/apt/lists/*
  apt-get clean