Changed some starting logic, should result in better ssh access.

build_ros/Dockerfile

@@ -3,17 +3,18 @@ FROM osrf/ros:${ROS}-desktop
 
 #SSH (First to hopefully keep keys, even on modification.)
 RUN apt-get update && apt-get install -y openssh-server && rm -rf /var/lib/apt/lists/*
-RUN mkdir /run/sshd
+
-RUN ssh-keygen -A
 #OpenGL
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y xserver-xorg-video-all libgl1-mesa-glx libgl1-mesa-dri libglvnd0 libgl1 libglx0 libegl1 libxext6 libx11-6 && rm -rf /var/lib/apt/lists/*
 #Vulkan
 RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils && rm -rf /var/lib/apt/lists/*
 #Utils
-RUN apt-get update && apt-get install -y git ninja-build git bash-completion && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y git ninja-build git bash-completion clangd-12 && rm -rf /var/lib/apt/lists/*
 #Rosdeps
 RUN apt-get update && apt-get install -y git ros-galactic-ament-cmake ros-galactic-moveit ros-galactic-behaviortree-cpp-v3 ros-galactic-ros-ign-gazebo && rm -rf /var/lib/apt/lists/*
 
+RUN mkdir /run/sshd
+
 ARG G_ID=1000
 ARG U_ID=1000
 

start.sh

@@ -1,6 +1,17 @@
 #!/bin/bash
 
+pushd $(dirname "$0")
+
+if [ ! -d "home" ]; then
   mkdir $(dirname "$0")/home
+fi
+
+if [ ! -d "home/.ssh" ]; then
+  mkdir home/.ssh
+fi
+
+ident=$(<~/.ssh/id_rsa.pub)
+grep -sqF -- "$ident" "home/.ssh/authorized_keys" || echo "$ident" >> "home/.ssh/authorized_keys"
 
 sudo docker-compose down
 
@@ -33,3 +44,5 @@ for host in ${hosts[@]}; do
   echo " - $host"
   xhost "-local:$host"
 done
+
+popd