Kortex URDF Docker File

kortex_urdf_generator.dockerfile

# Use the official ROS Noetic base image
FROM ros:noetic-ros-base-focal

# Make sure the package repository is up to date
RUN apt-get update && apt-get install -y \
    curl \
    gnupg2 \
    && rm -rf /var/lib/apt/lists/*

# Add the ROS repository to the sources list
RUN echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list

RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN apt-get update && apt-get install -y \
    git \
    python3-rosdep \
    python3-catkin-tools \
    python3-wstool \
    python3-pip \
    && rm -rf /var/lib/apt/lists/*

RUN rosdep update
RUN apt-get update

ENV KINOVA_WS /root/kinova_ws
RUN mkdir -p $KINOVA_WS/src
WORKDIR $KINOVA_WS

RUN pip3 install conan==1.59
RUN conan config set general.revisions_enabled=1
RUN conan profile new default --detect > /dev/null
RUN conan profile update settings.compiler.libcxx=libstdc++11 default
ENV CONAN_BUILD_POLICY=missing

# Clone the Kinova description repository into the workspace
RUN git clone -b noetic-devel https://github.com/Kinovarobotics/ros_kortex.git src/ros_kortex

RUN rosdep install --from-paths src --ignore-src -y

RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make -DCONAN_TARGET_PLATFORM=jetson"

RUN echo "source $KINOVA_WS/devel/setup.bash" >> ~/.bashrc

# Define variables you can change to re-generate the output.
ENV XACRO_FILE gen3.xacro
ENV SIM false
ENV DOF 6
ENV GRIPPER robotiq_2f_85

# Original output location ?
RUN mkdir $KINOVA_WS/src/ros_kortex/kortex_description/urdf

RUN mkdir -p /output
# RUN "rosrun xacro xacro --inorder $KINOVA_WS/src/ros_kortex/kortex_description/robots/$XACRO_FILE sim:=$SIM"
# Generate the URDF file using xacro
RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \
    source $KINOVA_WS/devel/setup.bash && \
    rosrun xacro xacro $KINOVA_WS/src/ros_kortex/kortex_description/robots/$XACRO_FILE sim:=$SIM dof:=$DOF gripper:=$GRIPPER \
    > /output/$XACRO_FILE.urdf"

# CMD ["/bin/bash"]

Build with buildx using the following

This annoyingly copies the entire root directory but you only need the output folder in the output folder.

docker buildx build --output type=local,dest=./output_dir,output=/output .

Change the following params to re-generate

ENV SIM false
ENV DOF 6
ENV GRIPPER robotiq_2f_85

TODO: If someone is using this in the future can you please make this a 2 step build which copies over the created files.

This version works for ARM based Macbooks.

Remove the following to make it work for x86 based processors:

 -DCONAN_TARGET_PLATFORM=jetson

NOTE: The default amount of memory is not enough to run this on a given docker installation. Try to increase to at least 16gb.