Dockerfile.dev

##############################################
# Created from template ros2.dockerfile.jinja
##############################################

###########################################
# Base image 
###########################################
FROM nvidia/cuda:12.4.1-runtime-ubuntu22.04 AS base

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
  && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
  curl \
  gnupg2 \
  lsb-release \
  sudo \
  software-properties-common \
  wget \
  && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
  ros-humble-ros-base \
  python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*

ENV ROS_DISTRO=humble
ENV AMENT_PREFIX_PATH=/opt/ros/humble
ENV COLCON_PREFIX_PATH=/opt/ros/humble
ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
ENV PATH=/opt/ros/humble/bin:$PATH
ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
ENV DEBIAN_FRONTEND=

###########################################
#  Develop image 
###########################################
FROM base AS dev

ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  build-essential \
  cmake \
  gdb \
  git \
  openssh-client \
  python3-argcomplete \
  python3-pip \
  ros-dev-tools \
  vim \
  && rm -rf /var/lib/apt/lists/*

RUN rosdep init || echo "rosdep already initialized"

ARG USERNAME=ros
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  # Add sudo support for the non-root user
  && apt-get update \
  && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*

# Set up autocompletion for user
RUN apt-get update && apt-get install -y git-core bash-completion \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
  && rm -rf /var/lib/apt/lists/* 


# additional apt-source
RUN echo "deb [trusted=yes] https://github.com/eaa3/ros-humble-packages/raw/jammy-humble/ ./" | sudo tee /etc/apt/sources.list.d/eaa3_ros-humble-packages.list \
  && echo "yaml https://github.com/eaa3/ros-humble-packages/raw/jammy-humble/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-eaa3_ros-humble-packages.list

RUN echo "deb [trusted=yes] https://github.com/eaa3/ros-humble-franka-packages/raw/jammy-humble/ ./" | sudo tee /etc/apt/sources.list.d/eaa3_ros-humble-franka-packages.list \
  && echo "yaml https://github.com/eaa3/ros-humble-franka-packages/raw/jammy-humble/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-eaa3_ros-humble-franka-packages.list


RUN echo "yaml https://raw.githubusercontent.com/eaa3/custom-ros-deps/main/custom_deps.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-eaa-custom-deps.list

ENV DEBIAN_FRONTEND=
ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1

###########################################
#  Full image 
###########################################
FROM dev AS full

ENV DEBIAN_FRONTEND=noninteractive
# Install the full release
RUN apt-get update && apt-get install -y --no-install-recommends \
  ros-humble-desktop \
  && rm -rf /var/lib/apt/lists/*
ENV DEBIAN_FRONTEND=

FROM full AS full-nvidia

################
# Expose the nvidia driver to allow opengl 
# Dependencies for glvnd and X11.
################
RUN apt-get update \
  && apt-get install -y -qq --no-install-recommends \
  libglvnd0 \
  libgl1 \
  libglx0 \
  libegl1 \
  libxext6 \
  libx11-6

# Env vars for the nvidia-container-runtime.
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
ENV QT_X11_NO_MITSHM 1


ARG WORKSPACE
RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
RUN echo "export PATH=${PATH}:/home/ros/.local/bin" >> /home/ros/.bashrc
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash

RUN apt-get update && apt-get install -y --no-install-recommends \
  git-lfs \
  && rm -rf /var/lib/apt/lists/*