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RBinsonBstevedanomodolor
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ivanperez-keera
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Add lunar_pole_exploration_rover demo (fix issue #36)
Add the demo launch files and control nodes. Also adds the controller configuration and a gazebo lunar world. A dockerfile is included for test. Co-authored-by: stevedan <[email protected]>
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‎lunar_pole_exploration_rover/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(lunar_pole_exploration_rover)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(control_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(simulation REQUIRED)
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find_package(std_msgs REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(DIRECTORY
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config
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launch
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worlds
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DESTINATION share/${PROJECT_NAME}
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)
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ament_python_install_package(${PROJECT_NAME})
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install(PROGRAMS
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nodes/move_mast
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nodes/move_wheel
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nodes/run_demo
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nodes/odom_tf_publisher
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎lunar_pole_exploration_rover/Dockerfile‎

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# Copyright 2021 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# A Docker configuration script to build the Space ROS image.
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#
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# The script provides the following build arguments:
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#
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# VCS_REF - The git revision of the Space ROS source code (no default value).
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# VERSION - The version of Space ROS (default: "preview")
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FROM osrf/space-ros:latest
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# Define arguments used in the metadata definition
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ARG VCS_REF
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ARG VERSION="preview"
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# Specify the docker image metadata
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LABEL org.label-schema.schema-version="1.0"
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LABEL org.label-schema.name="Lunar Pole Exploration Rover"
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LABEL org.label-schema.description="Lunar Pole Exploration Rover entry for the NASA Space ROS Sim Summer Sprint Challenge"
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LABEL org.label-schema.vendor="Open Robotics"
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LABEL org.label-schema.version=${VERSION}
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LABEL org.label-schema.url="https://github.com/space-ros"
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LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
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LABEL org.label-schema.vcs-ref=${VCS_REF}
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# Disable prompting during package installation
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ARG DEBIAN_FRONTEND=noninteractive
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# Define a few key variables
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ENV DEMO_DIR=${HOME_DIR}/demos_ws
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ENV IGNITION_VERSION=fortress
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ENV GZ_VERSION=fortress
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# Clone all space-ros sources
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RUN mkdir ${SPACEROS_DIR}/src \
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&& vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
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# Define key locations
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RUN mkdir -p ${DEMO_DIR}/src
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WORKDIR ${DEMO_DIR}
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# Make sure the latest versions of packages are installed
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# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
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# the cache won't make it into the built image but will be maintained between steps.
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get dist-upgrade -y
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RUN rosdep update
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# Install the various build and test tools
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt install -y \
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build-essential \
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clang-format \
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cmake \
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git \
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libbullet-dev \
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python3-colcon-common-extensions \
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python3-flake8 \
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python3-pip \
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python3-pytest-cov \
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python3-rosdep \
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python3-setuptools \
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python3-vcstool \
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wget
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# Install some pip packages needed for testing
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RUN python3 -m pip install -U \
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argcomplete \
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flake8-blind-except \
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flake8-builtins \
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flake8-class-newline \
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flake8-comprehensions \
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flake8-deprecated \
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flake8-docstrings \
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flake8-import-order \
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flake8-quotes \
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pytest-repeat \
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pytest-rerunfailures \
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pytest
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# Get rosinstall_generator
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
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# Generate repos file for dependencies, excluding packages from Space ROS core.
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COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
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COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
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RUN rosinstall_generator \
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--upstream \
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--rosdistro ${ROSDISTRO} \
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--deps \
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--exclude-path ${SPACEROS_DIR}/src \
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--exclude $(cat /tmp/excluded-pkgs.txt) -- \
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-- $(cat /tmp/demo-pkgs.txt) \
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> /tmp/demo_generated_pkgs.repos
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RUN vcs import src < /tmp/demo_generated_pkgs.repos
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# Get the source for the dependencies
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COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
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RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"'
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get update -y \
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&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
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&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
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ENV MAKEFLAGS="-j1"
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# build demo
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RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
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&& colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
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# Add the user to the render group so that the user can access /dev/dri/renderD128
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RUN sudo usermod -aG render $USERNAME
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# Add a couple sample GUI apps for testing
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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sudo apt-get install -y \
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firefox \
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glmark2 \
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libcanberra-gtk3-0 \
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libpci-dev \
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xauth \
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xterm
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# Setup the entrypoint
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COPY ./entrypoint.sh /
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["bash"]

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