Dockerfile

FROM ros:noetic

RUN apt-get update && apt-get install -y --no-install-recommends \
  && apt-get install -y --no-install-recommends \
  wget nano build-essential libomp-dev clang lld git\
  ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs \
  ros-noetic-rviz ros-noetic-tf-conversions ros-noetic-libg2o \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

RUN mkdir -p /root/catkin_ws/src
WORKDIR /root/catkin_ws/src
RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; catkin_init_workspace'
RUN git clone https://github.com/koide3/ndt_omp.git
RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
RUN git clone https://github.com/koide3/hdl_graph_slam.git

WORKDIR /
RUN wget http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz &&\
    tar -zxvf hdl_400.bag.tar.gz

WORKDIR /root/catkin_ws
RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; catkin_make'
RUN sed -i "6i source \"/root/catkin_ws/devel/setup.bash\"" /ros_entrypoint.sh

WORKDIR /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]