我想在docker上使用自定义的ros-indigo。我准备了以下Dockerfile
FROM ros:indigo-robot
RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
RUN mkdir -p /home/catkin_ws/src
WORKDIR /home/catkin_ws/src
RUN catkin_init_workspace
WORKDIR /home/catkin_ws
RUN catkin_make
RUN echo "source /home/catkin_ws/devel/setup.bash" >> ~/.bashrc
但是，这在RUN catkin_init_workspace和RUN catkin_make上都引发了错误，提示
/bin/sh: catkin_make: command not found
The command '/bin/sh -c catkin_init_workspace' returned a non-zero code: 127
出人意料的是，它成功地建立，如果我改变运行与CMD的柳絮命令，即以下Dockerfile建立就好了
RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
RUN mkdir -p /home/catkin_ws/src
WORKDIR /home/catkin_ws/src
CMD catkin_init_workspace
WORKDIR /home/catkin_ws
CMD catkin_make
RUN echo "source /home/catkin_ws/devel/setup.bash" >> ~/.bashrc
更令人惊讶的是，这些catkin命令可在单独构建在任何ros-indigo图像之上的容器上完美运行。
这清楚地表明，RUN不是调用catkin命令的适当方法，或者我不正确地调用了它。
现在，由于CMD命令的性质不同于RUN命令，因此在我的情况下使用它是没有意义的。因此，如果有人能指出正确的方法，我将不胜感激。
您需要为命令运行设置适当的bash环境（默认情况下，Docker使用sh执行命令）。这些命令对我有用：
FROM ros:indigo-robot
RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
RUN mkdir -p /home/catkin_ws/src
WORKDIR /home/catkin_ws/src
#RUN /opt/ros/indigo/bin/catkin_init_workspace
RUN /bin/bash -c '. /opt/ros/indigo/setup.bash; catkin_init_workspace /home/catkin_ws/src'
WORKDIR /home/catkin_ws
RUN /bin/bash -c '. /opt/ros/indigo/setup.bash; cd /home/catkin_ws; catkin_make'
RUN echo "source /home/catkin_ws/devel/setup.bash" >> ~/.bashrc
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