Matt Spencer
80 lines
2.8 KiB
Docker
80 lines
2.8 KiB
Docker
FROM osrf/ros:jazzy-desktop-full
|
|
ARG USERNAME=USERNAME
|
|
ARG USER_UID=1000
|
|
ARG USER_GID=$USER_UID
|
|
ARG TARGETARCH
|
|
|
|
# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
|
|
RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
|
|
|
|
# Create the user
|
|
RUN groupadd --gid $USER_GID $USERNAME \
|
|
&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
|
|
#
|
|
# [Optional] Add sudo support. Omit if you don't need to install software after connecting.
|
|
&& apt-get update \
|
|
&& apt-get install -y --no-install-recommends sudo \
|
|
&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
|
|
&& chmod 0440 /etc/sudoers.d/$USERNAME \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# Make sure the base image is completely up to date
|
|
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
|
|
apt-get update \
|
|
&& apt-get upgrade -y \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
|
|
# C++ development tools
|
|
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
|
|
apt-get update \
|
|
&& apt-get install -y --no-install-recommends \
|
|
build-essential \
|
|
cmake \
|
|
gdb \
|
|
clang \
|
|
clang-format \
|
|
clang-tidy \
|
|
libboost-all-dev \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# Python development tools
|
|
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
|
|
apt-get update \
|
|
&& apt-get install -y --no-install-recommends \
|
|
python3-pip \
|
|
python3-dev \
|
|
python3-argcomplete \
|
|
python3-colcon-common-extensions \
|
|
python3-colcon-mixin \
|
|
python3-rosdep \
|
|
python3-vcstool \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# system deps from frozen rosdep manifest — no rosdep at build or startup
|
|
# NOTE: There should be a check in your CI that this file is up to date.
|
|
# Something like:
|
|
# ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
|
|
# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
|
|
# The --mount=type=cache option caches the apt packages with buildkit
|
|
# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
|
|
# this enables parallel builds for different architectures without cache conflicts
|
|
# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
|
|
# rm -f /etc/apt/apt.conf.d/docker-clean \
|
|
# && apt-get update \
|
|
# && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
|
|
# && rm -rf /var/lib/apt/lists/*
|
|
|
|
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
|
|
apt-get update \
|
|
&& apt-get install -y --no-install-recommends \
|
|
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
|
|
ENV SHELL=/bin/bash
|
|
|
|
# [Optional] Set the default user. Omit if you want to keep the default as root.
|
|
USER $USERNAME
|
|
CMD ["/bin/bash"]
|