Dockerfile

# Base Linux distribution used to build the Docker image
#
# The script has been tested against:
# - ubuntu:focal
# - ubuntu:jammy
# - ubuntu:noble
#
# Do not pass directly "X:Y" to BASE_IMAGE_NAME, only pass the image name.
# The version must be specified separately in BASE_IMAGE_TAG.
#
# This script will not work with non-APT based Linux distributions.
ARG BASE_IMAGE_NAME

# Base Linux distribution version (one of "focal", "jammy", "noble")

ARG BASE_IMAGE_TAG

FROM "${BASE_IMAGE_NAME}:${BASE_IMAGE_TAG}"

# Commit ID this image is based upon
ARG VCS_REF

# The ROS distribution being targeted by this image
ARG ROS_DISTRO

# Additional APT packages to be installed
#
# This is used to build Docker images incorporating various ROS, or ROS 2
# distributions. E.g. "ros-rolling-desktop"
ARG EXTRA_APT_PACKAGES

# See http://label-schema.org/rc1/ for label documentation
LABEL org.label-schema.schema-version="1.0"
LABEL org.label-schema.name="ros-tooling/setup-ros-docker"
LABEL org.label-schema.description="ROS GitHub Action CI base image"
LABEL org.label-schema.url="https://github.com/ros-tooling/setup-ros-docker"
LABEL org.label-schema.vcs-url="https://github.com/ros-tooling/setup-ros-docker.git"
LABEL org.label-schema.vcs-ref="${VCS_REF}"
LABEL org.label-schema.vendor="ROS Tooling Working Group"

COPY setup-ros.sh /tmp/setup-ros.sh
RUN /tmp/setup-ros.sh "${ROS_DISTRO}" && rm -f /tmp/setup-ros.sh
ENV LANG=en_US.UTF-8
RUN for i in $(echo ${EXTRA_APT_PACKAGES} | tr ',' ' '); do \
        apt-get install --yes --no-install-recommends "$i"; \
    done
# ROS 1 installations clobber this - it doesn't affect ROS 2
RUN if [ "noble" = "$(lsb_release -cs)" ]; then pip3 install -U catkin_pkg --break-system-packages; else pip3 install -U catkin_pkg; fi