Restore moveit-gazebo

dockerfile_images/demos/moveit-gazebo/Dockerfile

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+#here add all stuff necessary to run redball demo in gazebo
+#start from image passed by argument during build process.
+ARG START_IMG="none"
+ARG METADATA_FILE="/usr/local/bin/setup_metadata.sh"
+ARG PROJECTS_DIR=/projects
+ARG ROS2_WORKSPACE=ros2_ws
+
+FROM $START_IMG as builder
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+LABEL maintainer="[email protected], [email protected]"
+
+# Args used as env variables always goes after FROM otherwise they are overridden
+ARG PROJECTS_DIR
+ARG ROS2_WORKSPACE
+
+ARG CMAKE_EXTRA_OPTIONS=-j4
+
+#The EXPOSE instruction does not actually publish the port.
+#It functions as a type of documentation between the person who builds the image and the person who runs the container, about which ports are intended to be published.
+#To actually publish the port when running the container, use the -p flag on docker run to publish and map one or more ports, or the -P flag to publish all exposed ports and map them to high-order ports.
+EXPOSE 10000/tcp 10000/udp
+
+# Some QT-Apps don't show controls without this
+ENV QT_X11_NO_MITSHM 1
+ENV YARP_COLORED_OUTPUT=1
+
+WORKDIR /
+
+# Install gazebo
+RUN apt update && apt install -y \
+    gazebo
+
+RUN apt update && apt install -y \
+    ros-humble-gazebo-msgs \
+    ros-humble-gazebo-ros \
+    ros-humble-moveit \
+    ros-humble-moveit-visual-tools \
+    ros-humble-ros2-controllers \
+    ros-humble-moveit-ros-planning-interface
+
+RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> /usr/local/bin/setup_robotology_tdd.sh
+
+# Install nlop (non-linear optimization needed for building trac_ik)
+RUN bash -c "mkdir -p ${PROJECTS_DIR} && cd ${PROJECTS_DIR} &&\
+    git clone https://github.com/stevengj/nlopt.git &&\
+    cd nlopt &&\
+    mkdir build &&\
+    cd build &&\
+    cmake .. &&\
+    make &&\
+    make install"
+
+RUN bash -c "mkdir -p ${PROJECTS_DIR}/${ROS2_WORKSPACE}/src && cd ${PROJECTS_DIR}/${ROS2_WORKSPACE}/src &&\
+    source /opt/ros/humble/setup.bash &&\
+    git clone https://bitbucket.org/traclabs/trac_ik.git -b rolling-devel &&\
+    cd trac_ik &&\
+    colcon build &&\
+    source install/setup.bash"
+
+RUN bash -c "cd ${PROJECTS_DIR}/${ROS2_WORKSPACE}/src &&\
+    source /opt/ros/humble/setup.bash &&\
+    git clone https://github.com/icub-tech-iit/xcub-moveit2 &&\
+    cd .. &&\
+    colcon build &&\
+    source install/setup.bash"
+
+ENTRYPOINT [ "/usr/local/bin/entrypoint.sh" ]
+CMD ["bash"]
+

dockerfile_images/demos/moveit-gazebo/conf_build.ini

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+[sources]
+START_IMG={{env.REGISTRY}}/{{env.REPOSITORY_NAME}}/{{env.IMAGE_PREFIX}}superbuild-ros2:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}_sources
+metadata={{steps.get_date.outputs.DATE_HOUR}}
+release={{steps.get_version.outputs.VERSION}}
+sbtag={{matrix.tag}}
+
+[tag]
+{{matrix.apps}}:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}
+

dockerfile_images/demos/moveit-gazebo/entrypoint.sh

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+#!/bin/bash
+set -e
+
+if [ -z "$(which setup_robotology_tdd.sh)" ] ; then
+    echo "File setup_robotology_tdd.sh not found."
+    exit 1
+fi
+
+source setup_robotology_tdd.sh
+
+echo "[ -r /usr/share/bash-completion/bash_completion   ] && . /usr/share/bash-completion/bash_completion" >> /root/.bashrc
+echo "[ -r /usr/local/bin/setup_robotology_tdd.sh   ] && . /usr/local/bin/setup_robotology_tdd.sh" >> /root/.bashrc
+
+# If a CMD is passed, execute it
+exec "$@"