Matt Spencer
79 lines
2.6 KiB
Docker
79 lines
2.6 KiB
Docker
# syntax=docker/dockerfile:1.7-labs
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FROM osrf/ros:jazzy-desktop-full
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ARG USERNAME=USERNAME
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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ARG TARGETARCH
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# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
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RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
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# Create the user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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#
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# [Optional] Add sudo support. Omit if you don't need to install software after connecting.
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&& apt-get update \
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&& apt-get install -y --no-install-recommends sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& rm -rf /var/lib/apt/lists/*
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# Make sure the base image is completely up to date
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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apt-get update \
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&& apt-get upgrade -y \
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&& rm -rf /var/lib/apt/lists/*
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# C++ development tools
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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apt-get update \
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&& apt-get install -y --no-install-recommends \
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build-essential \
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cmake \
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gdb \
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clang \
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clang-format \
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clang-tidy \
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libboost-all-dev \
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&& rm -rf /var/lib/apt/lists/*
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# Python development tools
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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apt-get update \
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&& apt-get install -y --no-install-recommends \
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python3-pip \
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python3-dev \
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python3-argcomplete \
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python3-colcon-common-extensions \
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python3-colcon-mixin \
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python3-rosdep \
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python3-vcstool \
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&& rm -rf /var/lib/apt/lists/*
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# Copy boilerplate project config into workspace so it can be parsed by rosdep.
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# This will be obscured by the volume mount or the workspace in the devcontainer
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# Don't include all sources, because the rosdep will re-process on any file change
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COPY --parents src/**/package.xml src/**/COLCON_IGNORE src/
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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apt-get update \
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&& rosdep update --rosdistro $ROS_DISTRO \
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&& rosdep install --from-paths src --ignore-src -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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apt-get update \
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&& apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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&& rm -rf /var/lib/apt/lists/*
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ENV SHELL=/bin/bash
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# [Optional] Set the default user. Omit if you want to keep the default as root.
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USER $USERNAME
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CMD ["/bin/bash"]
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