noetic dockerfile （how to use in noetic version with astra camera）

[martin2021-sh]

FROM ros:noetic-robot

Update

RUN apt update
RUN apt-get install software-properties-common apt-utils -y

Set working directory

WORKDIR /home/ros/src

Get the realsense package from git

RUN git clone https://github.com/orbbec/ros_astra_camera.git
RUN git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git

Set up Noetic keys

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

Set up astracamera keys

RUN apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

#Add astropro repo
RUN add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

Install required astrapro and ROS packages

RUN apt-get update &&
apt-get install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg ros-melodic-tf2-geometry-msgs python-catkin-tools -y

WORKDIR /home/ros

Install ROS dependencies

RUN rosdep update
&& rosdep install --from-paths src --ignore-src -r -y --skip-keys=librealsense2

build ros package source

RUN catkin config
--extend /opt/ros/$ROS_DISTRO &&
catkin build

RUN echo "source /home/ros/devel/setup.bash" >> /$HOME/.bashrc

CMD "bash"