FROM osrf/ros:kinetic-desktop-full-xenial

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-get install -y ros-kinetic-navigation \

&& apt-get install -y ros-kinetic-robot-localization \

&& apt-get install -y ros-kinetic-robot-state-publisher \

&& rm -rf /var/lib/apt/lists/*

RUN apt-get update \

&& apt install -y software-properties-common \

&& add-apt-repository -y ppa:borglab/gtsam-release-4.0 \

&& apt-get update \

&& apt install -y libgtsam-dev libgtsam-unstable-dev \

&& rm -rf /var/lib/apt/lists/*

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

RUN mkdir -p ~/catkin_ws/src \

&& cd ~/catkin_ws/src \

&& git clone https://github.com/TixiaoShan/LIO-SAM.git \

&& cd .. \

&& source /opt/ros/kinetic/setup.bash \

&& catkin_make

RUN echo "source /opt/ros/kinetic/setup.bash" >> /root/.bashrc \

&& echo "source /root/catkin_ws/devel/setup.bash" >> /root/.bashrc

WORKDIR /root/catkin_ws