Install franka_ros2 v1.0.2 in docker. (#191)

* Install franka_ros2 v1.0.2 in docker.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Make script executable.

Signed-off-by: Jelmer de Wolde <[email protected]>

* Remove temporary gpg fix.

Signed-off-by: Jelmer de Wolde <[email protected]>

---------

Signed-off-by: Jelmer de Wolde <[email protected]>

Author: Jelmerdw

dockerfiles/install_scripts/franka_ros2.sh

@@ -6,14 +6,13 @@
 
 set -e
 
-#Install ros2 franka: https://github.com/frankaemika/franka_ros2/tree/v1.0.0
+#Install ros2 franka: https://github.com/frankaemika/franka_ros2/tree/v1.0.2
 apt update
+source /home/$UNAME/.bashrc
 mkdir -p /home/$UNAME/franka_ws/src
-cd /home/$UNAME/franka_ws/src
-git clone -b v1.0.0 https://github.com/frankaemika/franka_ros2.git
-git clone -b 0.4.0 https://github.com/frankaemika/franka_description.git
 cd /home/$UNAME/franka_ws
+git clone -b v1.0.2 https://github.com/frankaemika/franka_ros2.git src
+vcs import src < src/franka.repos --recursive --skip-existing
 rosdep install --from-paths src --ignore-src --rosdistro humble -y
-source /home/$UNAME/.bashrc
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-ignore franka_ign_ros2_control
 echo "source /home/$UNAME/franka_ws/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/install_scripts/libfranka.sh

@@ -17,9 +17,6 @@ RUN ./moveit.sh
 COPY ./install_scripts/moveit_tools.sh .
 RUN ./moveit_tools.sh
 
-COPY ./install_scripts/libfranka.sh .
-RUN ./libfranka.sh
-
 COPY ./install_scripts/franka_ros2.sh .
 RUN ./franka_ros2.sh
 ENV GZ_SIM_RESOURCE_PATH="$GZ_SIM_RESOURCE_PATH:/home/$UNAME/franka_ws/src"