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FROM microros/base:rolling AS micro-ros-agent-builder WORKDIR /uros_ws RUN . /opt/ros/$ROS_DISTRO/setup.sh \ && . install/local_setup.sh \ && apt update \ && ros2 run micro_ros_setup create_agent_ws.sh \ && ros2 run micro_ros_setup build_agent.sh \ && rm -rf log/ build/ src/ FROM ros:rolling-ros-core COPY --from=micro-ros-agent-builder /uros_ws /uros_ws WORKDIR /uros_ws # Disable shared memory COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/ ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp ENV MICROROS_DISABLE_SHM=1 RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc # setup entrypoint COPY ./micro-ros_entrypoint.sh / ENTRYPOINT ["/bin/sh", "/micro-ros_entrypoint.sh"] CMD ["--help"]