93 lines
3 KiB
Docker
93 lines
3 KiB
Docker
FROM osrf/ros:humble-desktop-full
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ARG ROS_DISTR=humble
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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=$ROS_DISTR
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RUN mkdir -p /ros2/src
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RUN mkdir -p /ros2_underlay/src
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ADD ros2/src /ros2/src
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ADD ros2_underlay/src /ros2_underlay/src
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RUN apt-get update \
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&& apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
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&& apt-get install -y \
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libgl1-mesa-dri \
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libgl1-mesa-glx \
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mesa-utils \
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mesa-utils-extra \
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python3-pip \
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avahi-daemon \
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avahi-utils \
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libnss-mdns \
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iputils-ping \
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sudo \
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neovim \
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ripgrep \
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wget \
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byobu \
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ros-${ROS_DISTR}-rqt-tf-tree \
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ros-${ROS_DISTR}-apriltag \
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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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&& rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
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# && rosdep install --from paths /ros2/src -y --ignore-src \
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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+=$HOME/.zsh/pure' \
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-a 'autoload -U promptinit; promptinit' \
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-a 'prompt pure' \
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-a "export TERM=xterm-256color" \
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-a "zstyle ':prompt:pure:path' color 075" \
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-a "zstyle ':prompt:pure:prompt:success' color 214" \
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-a "zstyle ':prompt:pure:user' color 119" \
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-a "zstyle ':prompt:pure:host' color 119" \
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-a "ZSH_AUTOSUGGEST_HIGHLIGHT_STYLE='fg=161'" \
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-a 'PATH=$PATH:$HOME/.local/bin' \
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-a 'export HISTFILE=/zsh_history/.zsh_history' \
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-a 'export TERM=xterm-256color' \
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-a 'export COLORTERM=truecolor' \
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&& mkdir -p "$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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USER root
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RUN mkdir /zsh_history \
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&& touch /zsh_history/.zsh_history \
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&& chown -R $USERNAME /zsh_history
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ADD ros2-vim/cpp.vim /home/$USERNAME/.vim/after/ftplugin/cpp.vim
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RUN chown -R $USERNAME /home/$USERNAME/
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ADD ros2-vim/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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