From 84738c56a834110bc094c83c69c77f78803b4546 Mon Sep 17 00:00:00 2001
From: mateo <mateofeit@gmail.com>
Date: Mon, 12 Jan 2026 17:41:44 -0700
Subject: [PATCH] adding ros2 humble install to dockerfile; created
 conda_overlay_ros2.sh script which allows ros2 humble commands (which work on
 python 3.10) to work in the conda 3.11 environment humanoid_sim_env

---
 Dockerfile            | 29 +++++++++++++++++++++++++----
 conda_overlay_ros2.sh | 26 ++++++++++++++++++++++++++
 docker_run.sh         |  2 +-
 3 files changed, 52 insertions(+), 5 deletions(-)
 create mode 100644 conda_overlay_ros2.sh

diff --git a/Dockerfile b/Dockerfile
index 1317d6b..6012685 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -21,7 +21,7 @@ RUN sed -i 's|http://archive.ubuntu.com/ubuntu/|http://us.archive.ubuntu.com/ubu
 
 # Install build dependencies + X11 support for GUI rendering
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    gcc-12 g++-12 cmake build-essential unzip git-lfs wget \
+    gcc-12 g++-12 cmake build-essential curl unzip git-lfs wget \
     libglu1-mesa-dev vulkan-tools libvulkan1 \
     libx11-6 libxext6 libxrender1 libxi6 libxrandr2 libxcursor1 libxinerama1 \
     libgl1-mesa-glx libglib2.0-0 libsm6 libxt6 libxkbcommon-x11-0 \
@@ -100,12 +100,29 @@ RUN git clone https://github.com/unitreerobotics/unitree_rl_lab.git /home/code/u
       ./source/unitree_rl_lab/unitree_rl_lab/assets/robots/unitree.py && \
     ./unitree_rl_lab.sh -i
 
+
 # Clone H12 Lab Docs
 RUN git clone https://github.com/correlllab/h12-lab-docs.git /home/code/h12-lab-docs
 
 # Clone H12 Stand
 RUN git clone https://github.com/correlllab/h12_stand.git /home/code/h12_stand
 
+#Setup sources
+RUN set -eux; \
+    ROS_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}'); \
+    curl -L -o /tmp/ros2.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_VERSION}/ros2-apt-source_${ROS_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"; \
+    dpkg -i /tmp/ros2.deb; \
+    rm /tmp/ros2.deb
+
+#Install ros humble desktop and rmw cyclonedds cpp implementation
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-desktop \
+    ros-humble-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+#Set environment variables
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DISTRO=humble
 # ==============================
 # Stage 2: Runtime
 # ==============================
@@ -134,19 +151,23 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 COPY --from=builder /home/code /home/code
 COPY --from=builder /cyclonedds /cyclonedds
 COPY --from=builder /opt/conda /opt/conda
+COPY --from=builder /opt/ros/humble /opt/ros/humble
 
+COPY conda_overlay_ros2.sh /home/code/conda_overlay_ros2.sh
 
 # Initialize bashrc (removed OMNI_KIT_DISABLE_STARTUP)
 RUN echo 'source /opt/conda/etc/profile.d/conda.sh' >> ~/.bashrc && \
     echo 'conda activate humanoid_sim_env' >> ~/.bashrc && \
+    echo 'chmod +x /home/code/conda_overlay_ros2.sh && . /home/code/conda_overlay_ros2.sh' >> ~/.bashrc && \
+    echo 'source /opt/ros/humble/setup.sh' >> ~/.bashrc && \ 
     echo 'export OMNI_KIT_ALLOW_ROOT=1' >> ~/.bashrc && \
     echo 'export OMNI_KIT_ACCEPT_EULA=yes' >> ~/.bashrc && \
     echo 'export UNITREE_MODEL_DIR=/home/code/unitree_model' >> ~/.bashrc && \
     echo 'export UNITREE_ROS_DIR=/home/code/unitree_ros' >> ~/.bashrc && \
-    echo 'export CYCLONEDDS_HOME=/cyclonedds/install' >> ~/.bashrc
-
+    echo 'export CYCLONEDDS_HOME=/cyclonedds/install' >> ~/.bashrc && \
+    echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
 
 WORKDIR /home/code
 
 # Default to Conda environment bash
-CMD ["conda", "run", "-n", "humanoid_sim_env", "/bin/bash"]
\ No newline at end of file
+CMD ["conda", "run", "-n", "humanoid_sim_env", "/bin/bash"]
diff --git a/conda_overlay_ros2.sh b/conda_overlay_ros2.sh
new file mode 100644
index 0000000..ba1aba7
--- /dev/null
+++ b/conda_overlay_ros2.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+
+#source conda rq
+source /opt/conda/etc/profile.d/conda.sh
+
+#update and install required python packages
+echo 'installing: python3.10; libpython3.10-dev; libspdlog-dev; pip'
+apt update && apt install python3.10 libpython3.10-dev libspdlog-dev pip -y
+
+#symlink target /usr/bin/python3.10 to link /usr/bin/python
+ln -s /usr/bin/python3.10 /usr/bin/python
+
+#setting up python3.10 executable along with conda's executable
+update-alternatives --install /usr/bin/python python /usr/bin/python3.10 2
+
+#momentarily deactivate conda and set the python executable in /usr/bin to take precendence
+conda deactivate
+export PATH=/usr/bin:$PATH
+
+#install required pip packages
+echo 'pip installing: packaging; numpy; netifaces; pyyaml'
+python -m pip install packaging numpy netifaces pyyaml
+
+#reactivate conda env
+conda activate humanoid_sim_env
+
diff --git a/docker_run.sh b/docker_run.sh
index 2ac5400..cf0f1f7 100755
--- a/docker_run.sh
+++ b/docker_run.sh
@@ -28,4 +28,4 @@ docker run --gpus all -it --rm \
   --publish 8211:8211 \
   --publish 8899:8899 \
   humanoid-sim:latest \
-  /bin/bash
\ No newline at end of file
+  /bin/bash