anchor.diff:  RUN locale-gen en_US.UTF-8
   ENV LANG en_US.UTF-8
   
  +# install tiago dependencies
  +RUN  apt-get update -y && apt-get upgrade -y -q --no-install-recommends -o Dpkg::Options::="--force-confold" \
  +    && apt-get install -y -q --no-install-recommends software-properties-common \
  +    && add-apt-repository --yes ppa:xqms/opencv-nonfree  \
  +    && apt-get update -y -q \
  +    && apt-get install -y -q --no-install-recommends libopencv-nonfree-dev
  +
   # setup sources.list
   RUN echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list \
       \
  
positive.code: VOLUME ["/home/ros/.gazebo/models"]
  
  # install tiago sdk
  RUN aptitude install -y -q -R software-properties-common \
      && add-apt-repository --yes ppa:xqms/opencv-nonfree  \
      && aptitude update -y -q \
      && aptitude install -y -q -R libopencv-nonfree-dev \
      && mkdir -p /home/ros/Workspace/tiago_public_ws/src \
      && chmod -R a+rwx /home/ros/Workspace/tiago_public_ws \
      && cd /home/ros/Workspace/tiago_public_ws \
      && wget -O tiago_public.rosinstall https://raw.githubusercontent.com/pal-robotics/tiago_tutorials/master/tiago_public.rosinstall \
  
negative.code:     \
  # update the repository and install ros packages
      && apt-get update -y \
      && apt-get install -y -q --no-install-recommends apt-utils apt-transport-https aptitude \
      && aptitude install -y -q -R ros-indigo-desktop-full python-rosinstall \
      && rosdep init
  