anchor.diff:      ros-indigo-camera-calibration \
       ros-indigo-camera-calibration-parsers \
       ros-indigo-camera-info-manager \
  +    ros-indigo-twist-mux ros-indigo-joy ros-indigo-joy-teleop \
  +    ros-indigo-teleop-tools ros-indigo-control-toolbox ros-indigo-sound-play \
  +    ros-indigo-navigation ros-indigo-eband-local-planner \
  +    ros-indigo-depthimage-to-laserscan  ros-indigo-openslam-gmapping \
  +    ros-indigo-gmapping ros-indigo-moveit-commander \
  +    ros-indigo-geometry-experimental \
       \
   # install orocos rtt components
       && aptitude install -y -q -R ros-indigo-orocos-kdl ros-indigo-rtt ~nros-indigo-rtt-*
  
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
  