Add additional dependencies to docker images (#655)

Author: christophfroehlich

ros2_rhel/Dockerfile.rhel8

@@ -29,10 +29,20 @@ RUN set -eux; \
 
 # install ros
 ENV ROS_DISTRO=${ROS_DISTRO}
-RUN dnf install -y ros-${ROS_DISTRO}-ros-base \
-  python3-rosdep \
+RUN dnf install -y \
+  ros-${ROS_DISTRO}-ros-base \
+  ros-${ROS_DISTRO}-backward-ros \
+  ros-${ROS_DISTRO}-pal-statistics \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+  ros-${ROS_DISTRO}-xacro \
+  boost-devel \
+  libcap-devel \
+  urdfdom \
+  urdfdom-devel \
   python3-colcon-common-extensions \
+  python3-rosdep \
   python3-rosinstall_generator \
+  python3-rospkg \
   && dnf clean all \
   && rosdep init
 # somehow a wrong version of empy is installed, so we have to uninstall it first

ros2_rhel/Dockerfile.rhel9

@@ -20,13 +20,17 @@ RUN set -eux; \
   echo "Installing ROS RPM: $ROS_RPM_URL" ; \
   dnf install -y "$ROS_RPM_URL"
 
-# install ros
+# install system dependencies
 RUN dnf makecache -y
 RUN dnf install -y \
   gcc-c++ \
   git \
   make \
   patch \
+  boost-devel \
+  libcap-devel \
+  urdfdom \
+  urdfdom-devel \
   python3-colcon-common-extensions \
   python3-mypy \
   python3-pip \
@@ -36,6 +40,7 @@ RUN dnf install -y \
   python3-pytest-rerunfailures \
   python3-rosdep \
   python3-rosinstall_generator \
+  python3-rospkg \
   python3-setuptools \
   python3-vcstool \
   wget \
@@ -54,7 +59,13 @@ RUN python3 -m pip install --no-cache-dir -U --user \
 
 # install ros-base
 ENV ROS_DISTRO=${ROS_DISTRO}
-RUN dnf install -y ros-${ROS_DISTRO}-ros-base \
+RUN dnf install -y \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-backward-ros \
+    ros-${ROS_DISTRO}-pal-statistics \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    ros-${ROS_DISTRO}-sdformat-urdf \
+    ros-${ROS_DISTRO}-xacro \
   && rosdep init \
   && dnf clean all
 

ros2_ubuntu/Dockerfile

@@ -59,11 +59,22 @@ ENV LANG=C.UTF-8
 ENV LC_ALL=C.UTF-8
 ENV ROS_DISTRO=${ROS_DISTRO}
 
-# Install ROS packages and dev dependencies, which ros-tooling/setup-ros would install see
+# Install ROS packages, (ros-base) plus common packages,
+# https://www.ros.org/reps/rep-2001.html#id38
+# typical manual dev dependencies,
+# and dependencies which ros-tooling/setup-ros would install see
 # https://github.com/ros-tooling/setup-ros/blob/master/src/package_manager/apt.ts
 RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-ros-base \
+    libboost-dev \
+    libcap-dev \
+    liburdfdom-tools \
+    python3-rospkg \
+    ros-${ROS_DISTRO}-backward-ros \
+    ros-${ROS_DISTRO}-pal-statistics \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    ros-${ROS_DISTRO}-sdformat-urdf \
+    ros-${ROS_DISTRO}-xacro \
     $(if [ $(lsb_release -sc) = "noble" ]; then echo "libssl-dev python3-dev clang lcov python3-rosinstall-generator python3-pip python3-pytest-cov python3-flake8-blind-except python3-flake8-class-newline python3-flake8-deprecated python3-pytest-repeat python3-pytest-rerunfailures ros-dev-tools python3-colcon-coveragepy-result python3-colcon-lcov-result python3-colcon-meson python3-colcon-mixin python3-importlib-metadata libclang-rt-dev"; fi) \
     $(if [ $(lsb_release -sc) = "jammy" ]; then echo "libssl-dev python3-dev clang lcov python3-rosinstall-generator python3-flake8-docstrings python3-pip python3-pytest-cov python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-import-order python3-flake8-quotes python3-pytest-repeat python3-pytest-rerunfailures ros-dev-tools python3-colcon-coveragepy-result python3-colcon-lcov-result python3-colcon-meson python3-colcon-mixin libasio-dev libtinyxml2-dev"; fi) \
     && rm -rf /var/lib/apt/lists/*