Dockerfile

FROM ros:melodic-ros-base

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

RUN apt update

RUN apt install -y ros-melodic-tf* \
                   ros-melodic-pcl-ros \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /root

# ROS setting
RUN /bin/bash -c "mkdir -p catkin_ws/src"

RUN cd catkin_ws/src && /bin/bash -c "source /opt/ros/melodic/setup.bash; catkin_init_workspace"

RUN cd catkin_ws && /bin/bash -c "source /opt/ros/melodic/setup.bash; catkin_make"

RUN cd /root && echo source /root/catkin_ws/devel/setup.bash >> .bashrc

ENV ROS_PACKAGE_PATH=/root/catkin_ws:$ROS_PACKAGE_PATH

ENV ROS_WORKSPACE=/root/catkin_ws

RUN ln -sf /usr/include/eigen3/Eigen /usr/include/Eigen

# clone repository
WORKDIR /root