Singularityfile.def

Bootstrap: docker
From: osrf/ros:noetic-desktop-full

%setup
    mkdir -p ${SINGULARITY_ROOTFS}/jackal_ws/src

%files
    . /jackal_ws/src/barn-tps-astar-icra2023

%post -c /bin/bash
    apt-get update && apt-get upgrade -y
    apt-get install -y git cmake apt-utils
	
    apt-get -y install python3 python3-venv python3-colcon-common-extensions
    python3 -m venv /venv
    export PATH="/venv/bin:$PATH"
    pip3 install --upgrade pip
    pip3 install empy defusedxml rospkg netifaces numpy catkin-tools


    cd /jackal_ws/src 
    git clone https://github.com/jackal/jackal.git
    git clone https://github.com/jackal/jackal_simulator.git 
    git clone https://github.com/jackal/jackal_desktop.git 
    git clone https://github.com/utexas-bwi/eband_local_planner.git

    source /opt/ros/noetic/setup.bash
    rm /etc/ros/rosdep/sources.list.d/20-default.list
    cd .. 
    rosdep init; rosdep update;
    rosdep install -y --from-paths . --ignore-src --rosdistro=noetic

    catkin_make
    source devel/setup.bash


%environment
    export PATH="/venv/bin:$PATH"