anchor.diff:  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 \
  +RUN 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 \
  
positive.code:     ros-indigo-camera-calibration \
      ros-indigo-camera-calibration-parsers \
      ros-indigo-camera-info-manager \
      \
  # install orocos rtt components
      && aptitude install -y -q -R ros-indigo-orocos-kdl ros-indigo-rtt ~nros-indigo-rtt-*
  
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
  