74 lines
2.3 KiB
Docker
74 lines
2.3 KiB
Docker
FROM px4io/px4-dev-ros2-foxy
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ARG ROS_DISTR=foxy
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ENV DEBIAN_FRONTEND=noninteractive
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ENV NVIDIA_VISIBLE_DEVICES \
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${NVIDIA_VISIBLE_DEVICES:-all}
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ENV NVIDIA_DRIVER_CAPABILITIES \
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${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
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ARG USERNAME=ros-user
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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ENV ROS_DISTR=$ROS_DISTR
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RUN apt-get update \
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&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
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&& apt-get install -y \
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libgl1-mesa-dri \
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libgl1-mesa-glx \
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python3-pip \
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ros-${ROS_DISTR}-desktop \
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avahi-daemon \
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avahi-utils \
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libnss-mdns \
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iputils-ping \
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sudo \
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vim \
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wget \
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byobu \
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xmlstarlet \
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clang-format \
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&& python3 -m pip install yapf \
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rope \
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flake8 \
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pylint \
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jedi \
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&& groupadd --gid $USER_GID $USERNAME \
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&& useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
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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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&& apt-get autoremove -y \
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&& apt-get clean -y \
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&& rm -rf /var/lib/apt/lists/*
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USER ${USERNAME}
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ENV TERM xterm-256color
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RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.1/zsh-in-docker.sh)" -- \
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-p https://github.com/zsh-users/zsh-autosuggestions \
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-p git \
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-t "" \
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-a 'fpath+=$HOME/.zsh/pure' \
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-a 'autoload -U promptinit; promptinit' \
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-a 'prompt pure' \
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-a 'PATH=$PATH:$HOME/.local/bin' \
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&& mkdir -p "$HOME/.zsh" \
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&& git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
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&& echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc
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ADD vimrc /home/$USERNAME/.vimrc
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ADD ycm_extra_conf.py /home/$USERNAME/.ycm_extra_conf.py
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RUN git clone https://github.com/VundleVim/Vundle.vim.git /home/$USERNAME/.vim/bundle/Vundle.vim
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RUN vim +PluginInstall +qall
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RUN cd /home/$USERNAME/.vim/bundle/YouCompleteMe \
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&& python3 install.py --clangd-completer
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USER root
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RUN chown -R $USERNAME /home/$USERNAME/
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ADD entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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RUN chown $USERNAME /entrypoint.sh
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USER ${USERNAME}
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WORKDIR /home/$USERNAME
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RUN wget https://raw.githubusercontent.com/llvm/llvm-project/main/clang/tools/clang-format/clang-format.py
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# Switch back to dialog for any ad-hoc use of apt-get
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ENV DEBIAN_FRONTEND=dialog
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CMD [ "/usr/bin/zsh"]
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