AutMobRob-Assignment1/Dockerfile at main · artyomzifir/AutMobRob-Assignment1 · GitHub

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FROM ros:humble-ros-base

# Set ROS distro
ENV ROS_DISTRO=humble

# Set arguments for user creation
ARG USERNAME=fabian
ARG USER_UID=1000
ARG USER_GID=$USER_UID

#Create USER
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME

# Update and install necessary packages for ROS2
RUN apt-get update && apt-get upgrade -y \
    && apt-get install -y sudo curl gnupg2 lsb-release net-tools python3-pip \
    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
    && echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list

# Update and install all packages for work and usefull tools
RUN apt-get update && apt-get upgrade -y && \
    apt-get install -y \
    sudo \
    git \
    wget \
    nano \
    python3-pip \
    ros-${ROS_DISTRO}-tf2-tools \
    ros-${ROS_DISTRO}-robot-state-publisher \
    ros-${ROS_DISTRO}-joint-state-publisher \
    ros-${ROS_DISTRO}-xacro \
    ros-${ROS_DISTRO}-rviz2 \
    ros-${ROS_DISTRO}-hardware-interface \
    ros-${ROS_DISTRO}-urdf \
    ros-${ROS_DISTRO}-urdfdom \
    ros-${ROS_DISTRO}-rviz-default-plugins \
    ros-${ROS_DISTRO}-rqt-robot-steering \
    ros-${ROS_DISTRO}-rqt-tf-tree \
    ros-${ROS_DISTRO}-camera-calibration-parsers \
    ros-${ROS_DISTRO}-v4l2-camera \
    ros-${ROS_DISTRO}-camera-calibration \
    ros-${ROS_DISTRO}-apriltag-ros \
    ros-${ROS_DISTRO}-image-pipeline \
    ros-${ROS_DISTRO}-camera-calibration \
    ros-${ROS_DISTRO}-ros2controlcli \
    ros-${ROS_DISTRO}-ur \
    iputils-ping \
    libcanberra-gtk-module \
    libcanberra-gtk3-module \
    at-spi2-core x11-apps xauth \
    libgflags-dev \
    libdw-dev \
    nlohmann-json3-dev  \
    libcanberra-gtk-module \
    libcanberra-gtk3-module \
    at-spi2-core \
    x11-apps \
    xauth \
    alsa-utils \
    pulseaudio \
    python3-pip \
    portaudio19-dev \
    --fix-missing

# Clean up
RUN apt-get clean && rm -rf /var/lib/apt/lists/*

# Initialize rosdep (run as user)
RUN sudo rosdep init || true \
    && rosdep update

# Add source into .bashrc
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc

#Login as our user
USER $USERNAME

#Prepare working dir
RUN mkdir -p /home/$USERNAME/ros2_ws/src

CMD ["bash"]