Support for old docker versions

build_ros/Dockerfile

@@ -1,12 +1,11 @@
 ARG ROS=humble 
 FROM osrf/ros:${ROS}-desktop
-RUN apt-get update -y
+RUN apt-get update && apt-get install -y ros-galactic-ros-ign-gazebo
-RUN apt-get install -y ros-galactic-ros-ign-gazebo
+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
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -y xserver-xorg-video-all libgl1-mesa-glx libgl1-mesa-dri libglvnd0 libgl1 libglx0 libegl1 libxext6 libx11-6
+RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils
-RUN apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils
+
-ARG UID=1000
 ARG GID=1000
-run groupadd -f -g $GID ros
+ARG UID=1000
+
+RUN groupadd -f -g $GID ros
 RUN useradd -u $UID -g $GID -m ros
-RUN usermod -aG video ros
-RUN usermod -aG render ros

build_ros/entrypoint.sh

@@ -0,0 +1,9 @@
+#!/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
+
+exec su ros -c "/ros_entrypoint.sh $@"

docker-compose.yaml

@@ -7,16 +7,19 @@ services:
       context: ./build_ros
       args:
         ROS: galactic           #Desired ROS version
-    user: 1000:1000             #Fill in your id's here. (UID:GUI)
+        UID: ${U_ID}
+        GID: ${G_ID}
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ./ros:/home/ros
+      - ./home:/home/ros
     devices:
       - /dev/dri:/dev/dri
     environment:
       - DISPLAY=$DISPLAY
       - XAUTHORITY=$XAUTHORITY
-    entrypoint: /bin/bash
+      - U_ID=${U_ID}
+      - G_ID=${G_ID}
+    user: ${U_ID}:${G_ID}
     stdin_open: true
     tty: true
     #group_add:

start.sh

@@ -1,7 +1,10 @@
 #!/bin/bash
 
-sudo docker-compose build
+mkdir $(dirname "$0")/home
-sudo docker-compose up -d
+
+sudo docker-compose down
+sudo U_ID="$(id -u)" G_ID="$(id -g)" docker-compose build
+sudo U_ID="$(id -u)" G_ID="$(id -g)" docker-compose up -d
 
 up_result=$(sudo docker-compose ps -q)