From bbea59dc4058bc4ee3c93fa9935257323225a3ae Mon Sep 17 00:00:00 2001
From: Bastian Hofmann <bastian.hofmann@xitaso.com>
Date: Thu, 22 Sep 2022 10:51:46 +0200
Subject: [PATCH] Changed default permissions to root, sshd for connectivity to
 container.

---
 .env                    |  2 ++
 .gitignore              |  3 ++-
 build_ros/Dockerfile    | 19 +++++++++++++++++--
 build_ros/entrypoint.sh | 37 +++++++++++++++++++++++++++++++------
 docker-compose.yaml     |  4 +++-
 shell.sh                |  1 +
 6 files changed, 56 insertions(+), 10 deletions(-)
 create mode 100644 .env
 create mode 100755 shell.sh

diff --git a/.env b/.env
new file mode 100644
index 0000000..4719969
--- /dev/null
+++ b/.env
@@ -0,0 +1,2 @@
+U_ID=1000
+G_ID=1000
diff --git a/.gitignore b/.gitignore
index 83aa00b..a99f1dc 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
-/*
 !/docker-compose.yaml
 !/build_ros
 !/start.sh
+!/shell.sh
 !/.gitignore
+/home
diff --git a/build_ros/Dockerfile b/build_ros/Dockerfile
index 498ee24..b0679a6 100755
--- a/build_ros/Dockerfile
+++ b/build_ros/Dockerfile
@@ -1,11 +1,26 @@
-ARG ROS=humble 
+ARG ROS=humble
 FROM osrf/ros:${ROS}-desktop
-RUN apt-get update && apt-get install -y ros-galactic-ros-ign-gazebo && rm -rf /var/lib/apt/lists/*
+
+#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/*
+#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/*
 
 ARG G_ID=1000
 ARG U_ID=1000
 
 RUN groupadd -f -g ${G_ID} ros
 RUN useradd -u ${U_ID} -g ${G_ID} -m ros
+
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+CMD ["/usr/bin/bash", "-c", "/entrypoint.sh", "${ROS_NAME}"]
diff --git a/build_ros/entrypoint.sh b/build_ros/entrypoint.sh
index 40b6eed..d794946 100755
--- a/build_ros/entrypoint.sh
+++ b/build_ros/entrypoint.sh
@@ -1,9 +1,34 @@
 #!/bin/bash
 
-groupadd -f -g $GID ros
-useradd -u $UID -g $GID -m ros
-usermod -aG video ros
-usermod -aG render ros
-chown -R $UID:$GID /home/ros
+if [ ! -f /home/ros/docker_image_version ]; then
+    echo "0" > /home/ros/docker_image_version
+fi
 
-exec su ros -c "/ros_entrypoint.sh $@"
+chsh -s /usr/bin/bash ros
+
+if [ "0" == "$(cat /home/ros/docker_image_version)" ]; then
+    echo "Performing initial setup..."
+
+    cp /etc/skel/.* /home/ros
+    chown -R ros:ros /home/ros
+
+    su ros -c "echo 'source ~/.rosrc' >> ~/.bashrc"
+    echo "Modified .bashrc"
+    su ros -c "mkdir -p /home/ros/workspace/src"
+    echo "Created workspace"
+    su ros -c "cd /home/ros/workspace; colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja"
+    echo "Built workspace"
+    echo "1" > /home/ros/docker_image_version
+fi
+
+if [ ! -f /home/ros/.ssh/id_rsa ]; then
+    su ros -c "ssh-keygen -N '' -f /home/ros/.ssh/id_rsa"
+    echo "Generated SSH Keys."
+fi
+
+echo "ros:ros" | chpasswd
+su ros -c "echo 'source /opt/ros/$ROS_DISTRO/setup.bash\nsource /home/ros/workspace/install/setup.bash' > ~/.rosrc"
+
+echo "Ready to connect."
+
+/usr/sbin/sshd -p 2222 -D
diff --git a/docker-compose.yaml b/docker-compose.yaml
index f74c5dc..9615e9f 100755
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -2,6 +2,7 @@ version: "3.2"
 
 services:
   ros:
+    hostname: ros
     image: ros/custom
     build: 
       context: ./build_ros
@@ -15,9 +16,10 @@ services:
     environment:
       - DISPLAY=$DISPLAY
       - XAUTHORITY=$XAUTHORITY
-    user: ${U_ID}:${G_ID}
     stdin_open: true
     tty: true
+    ports:
+      - "2222:2222"
     #group_add:
     #  - video
     #  - render
diff --git a/shell.sh b/shell.sh
new file mode 100755
index 0000000..9df4b27
--- /dev/null
+++ b/shell.sh
@@ -0,0 +1 @@
+sudo docker-compose exec -w /home/ros ros bash