content: FROM osrf/ros:noetic-desktop-full
  
  # Change the default shell to Bash
  SHELL [ "/bin/bash" , "-c" ]
  
  # Install dependencies
  RUN apt-get update && apt-get install -y git libeigen3-dev ros-noetic-navigation ros-noetic-octomap-msgs ros-noetic-grid-map ros-noetic-cmake-modules ros-noetic-velodyne-gazebo-plugins ros-noetic-ompl ros-noetic-move-base ros-noetic-navfn ros-noetic-dwa-local-planner ros-noetic-costmap-2d ros-noetic-teb-local-planner ros-noetic-robot-self-filter ros-noetic-pointcloud-to-laserscan ros-noetic-ros-numpy ros-noetic-octomap-server ros-noetic-pcl-ros ros-noetic-pcl-conversions ros-noetic-grid-map-costmap-2d ros-noetic-grid-map-ros ros-noetic-map-server ros-noetic-global-planner ros-noetic-grid-map-filters ros-noetic-grid-map-visualization
  
  RUN source /opt/ros/noetic/setup.bash && \
  	cd / && \
  	mkdir -p /catkin_ws/src && \
  	cd /catkin_ws/src && \
  	catkin_init_workspace && \
  	cd .. && \
  	catkin_make && \
  	echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
  
  WORKDIR /catkin_ws
  
  COPY docker/entrypoint.sh /entrypoint.sh
  ENTRYPOINT ["/entrypoint.sh"]
  