Dockerfile

FROM osrf/ros:humble-desktop-full-jammy

RUN apt-get update \
    && apt-get install -y curl \
    && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
    && apt-get update \
    && apt install -y python3-colcon-common-extensions \
    && apt-get install -y ros-humble-navigation2 \
    && apt-get install -y ros-humble-robot-localization \
    && apt-get install -y ros-humble-robot-state-publisher \
    && apt install -y ros-humble-perception-pcl \
  	&& apt install -y ros-humble-pcl-msgs \
  	&& apt install -y ros-humble-vision-opencv \
  	&& apt install -y ros-humble-xacro \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update \
    && apt install -y software-properties-common \
    && add-apt-repository -y ppa:borglab/gtsam-release-4.1 \
    && apt-get update \
    && apt install -y libgtsam-dev libgtsam-unstable-dev \
    && rm -rf /var/lib/apt/lists/*

SHELL ["/bin/bash", "-c"]

RUN mkdir -p ~/ros2_ws/src \
    && cd ~/ros2_ws/src \
    && git clone --branch ros2 https://github.com/TixiaoShan/LIO-SAM.git \
    && cd .. \
    && source /opt/ros/humble/setup.bash \
    && colcon build

RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
    && echo "source /root/ros2_ws/install/setup.bash" >> /root/.bashrc

WORKDIR /root/ros2_ws