为海龟机器人3和debian的docker安装ros模拟的最佳方式:buster

# 使用Debian Buster作为基础镜像
FROM debian:buster

# 设置环境变量以避免交互式配置提示
ENV DEBIAN_FRONTEND=noninteractive

# 更新包列表并安装必要的依赖
RUN apt-get update && \
    apt-get install -y \
    wget \
    gnupg2 \
    lsb-release \
    python3-pip \
    ros-noetic-desktop-full \
    ros-noetic-turtlebot3*

# 初始化rosdep
RUN rosdep init && \
    rosdep update

# 设置ROS环境变量
ENV ROSDISTRO noetic
RUN echo "source /opt/ros/$ROSDISTRO/setup.bash" >> ~/.bashrc

# 安装其他可能需要的工具和库
RUN apt-get install -y \
    vim \
    git

# 创建工作空间并初始化
RUN mkdir -p /catkin_ws/src
WORKDIR /catkin_ws
RUN catkin_make
RUN echo "source devel/setup.bash" >> ~/.bashrc

# 暴露端口（如果需要）
EXPOSE 11311 8080

# 启动命令
CMD ["bash"]

docker build -t ros-turtlebot3 .

docker run -it --rm \
  -e ROS_HOSTNAME=localhost \
  -e ROS_IP=172.17.0.1 \
  --net=host \
  ros-turtlebot3

source ~/.bashrc

roslaunch turtlebot3_gazebo turtlebot3_world.launch

roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml