General docker file for Ubuntu

Dockerfile

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+# Use the official ROS Noetic base image
+FROM ros:noetic
+
+# Install necessary dependencies
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    python3-rosdep \
+    python3-catkin-tools \
+    libboost-all-dev \
+    libeigen3-dev \
+    ros-noetic-cv-bridge \
+    ros-noetic-image-transport \
+    ros-noetic-tf2-ros \
+    ros-noetic-tf2-eigen \
+    ros-noetic-rviz \
+    ros-noetic-image-geometry \
+    ros-noetic-pcl-ros \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set up the catkin workspace
+RUN mkdir -p /catkin_ws/src
+WORKDIR /catkin_ws/src
+
+# Clone the MINS repository
+RUN git clone https://github.com/rpng/mins.git
+
+# Initialize rosdep
+RUN if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then \
+        rosdep init; \
+    fi && \
+    rosdep update
+
+# Install dependencies using rosdep
+RUN cd /catkin_ws && rosdep install --from-paths src --ignore-src -r -y
+
+# Build the catkin workspace with catkin_make_isolated
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && cd /catkin_ws && catkin_make_isolated -j1"
+
+# Source the setup file and set the entrypoint
+RUN echo "source /catkin_ws/devel_isolated/setup.bash" >> ~/.bashrc
+ENTRYPOINT ["/bin/bash"]
+