m5p3nc3r
54ed5c6a82
Makes it easier to work on an individual part in isolation. Also change the vscode devconsole visualiser to one that works with includes
88 lines
3.2 KiB
Docker
88 lines
3.2 KiB
Docker
FROM ros:kilted
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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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# 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 -s /bin/bash \
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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 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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RUN apt-get update && apt-get upgrade -y
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# C++ development tools
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RUN apt-get update && apt-get install -y \
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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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# Python development tools
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RUN apt-get update && apt-get install -y \
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python3-pip \
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python3-venv \
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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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# ROS 2 ament build tools
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# RUN apt-get install -y \
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# ros-${ROS_DISTRO}-ament-cmake \
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# ros-${ROS_DISTRO}-ament-cmake-auto \
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# ros-${ROS_DISTRO}-ament-python \
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# ros-${ROS_DISTRO}-ament-lint-auto \
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# ros-${ROS_DISTRO}-ament-lint-common
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# URDF / xacro tooling — needed to generate flat URDF for IDE preview
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RUN apt-get update && apt-get install -y \
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ros-${ROS_DISTRO}-xacro \
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ros-${ROS_DISTRO}-robot-state-publisher
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# Node.js for frontend development
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RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
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&& apt-get install -y nodejs
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# Python venv for webui backend (isolated from system packages)
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RUN python3 -m venv /opt/webui-venv \
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&& /opt/webui-venv/bin/pip install --no-cache-dir \
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fastapi \
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"uvicorn[standard]" \
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numpy
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# Docker CLI for accessing the host daemon via the mounted socket
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# docker-compose-plugin is only in Docker's official repo, not Ubuntu's.
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# .docker_gid is written by initializeCommand on the host before the build,
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# ensuring the in-container docker group GID matches the host socket GID.
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COPY .docker_gid /tmp/.docker_gid
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RUN apt-get update && apt-get install -y ca-certificates curl gnupg \
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&& install -m 0755 -d /etc/apt/keyrings \
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&& curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg \
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&& chmod a+r /etc/apt/keyrings/docker.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" \
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> /etc/apt/sources.list.d/docker.list \
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&& apt-get update && apt-get install -y docker-ce-cli docker-compose-plugin \
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&& groupadd -g "$(cat /tmp/.docker_gid)" docker \
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&& usermod -aG docker $USERNAME
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ENV SHELL /bin/bash
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# ********************************************************
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# * Anything else you want to do like clean up goes here *
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# ********************************************************
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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"] |