From 61471fdf9c1654bc3b2130c43956e03170982bd5 Mon Sep 17 00:00:00 2001
From: Whi Kwon <30768596+whikwon@users.noreply.github.com>
Date: Fri, 19 Jul 2019 00:11:29 +0900
Subject: [PATCH] Fix dockerfile (#84)

* Fix dockerfile

* Fix wrong filename
---
 Dockerfile                         | 4 ++--
 launch/open_manipulator_env.launch | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index a07cf05..05dc3c1 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -8,7 +8,7 @@ RUN apt-get update && apt-get -y upgrade && apt-get -y install git wget vim
 
 # install ROS
 RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
-RUN sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 RUN apt-get update -y && apt-get upgrade -y
 RUN apt-get install -y ros-${ROS_DISTRO}-desktop-full ros-${ROS_DISTRO}-rqt-*
 RUN rosdep init && rosdep update
@@ -49,7 +49,7 @@ RUN apt-get update && apt-get install -y python3-opengl zlib1g-dev libjpeg-dev p
 	cmake swig libboost-all-dev libsdl2-dev libosmesa6-dev xvfb ffmpeg
 
 # install repository requirements
-RUN apt-get remove -y python-psutil
+RUN dpkg -P --force-all python-psutil python-enum34 python-yaml
 
 RUN cd src/kair_algorithms_draft/scripts && python2.7 -m pip install -r requirements.txt
 RUN python2.7 -m pip install gym['Box2d']
diff --git a/launch/open_manipulator_env.launch b/launch/open_manipulator_env.launch
index 4ed66c1..8fd002a 100755
--- a/launch/open_manipulator_env.launch
+++ b/launch/open_manipulator_env.launch
@@ -8,9 +8,9 @@
   <arg name="debug" default="false"/>
 
   <!-- robot URDF parse args -->
-  <arg name="om_urdf" value="robot_description"/>
+  <arg name="open_manipulator_urdf" value="robot_description"/>
   <arg name="urdf_param" default="/robot_description"/>
-  <param name="$(arg om_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator.urdf"/>
+  <param name="$(arg open_manipulator_urdf)" textfile="$(find kair_algorithms)/urdf/open_manipulator.urdf"/>
   <arg name="load_robot_description" default="false"/>
 
   <!-- gazebo related -->
@@ -25,7 +25,7 @@
   </include>
 
   <!--KDL chain related args-->
-  <param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/om.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg urdf_param)" command="$(find xacro)/xacro --inorder $(find kair_algorithms)/urdf/open_manipulator.urdf"/>
 
   <!-- Load the URDF into the ROS Parameter Server -->
     <param name="robot_description"