build_ros/Dockerfile

@@ -1,5 +1,5 @@
 ARG ROS=humble
-FROM osrf/ros:${ROS}-desktop-full
+FROM osrf/ros:${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/*
@@ -7,11 +7,11 @@ RUN apt-get update && apt-get install -y openssh-server && rm -rf /var/lib/apt/l
 #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-tools mesa-utils && rm -rf /var/lib/apt/lists/*
+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 gdb clang-format git ninja-build git bash-completion clangd ccls && 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 ros-humble-ament-cmake ros-humble-moveit ros-humble-behaviortree-cpp-v3 ros-humble-gazebo-ros ros-humble-ros-gz-sim ros-humble-ros2-control ros-humble-gazebo-ros2-control ros-humble-ros2-controllers ros-humble-moveit-ros-control-interface && rm -rf /var/lib/apt/lists/*
+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
 

build_ros/entrypoint.sh

@@ -30,10 +30,7 @@ fi
 
 echo "ros:ros" | chpasswd
 su ros -c "printf 'source /opt/ros/$ROS_DISTRO/setup.bash\nsource /home/ros/workspace/install/setup.bash' > ~/.rosrc"
-printf "export DISPLAY=$DISPLAY" > /etc/profile.d/display.sh
+printf "DISPLAY=$DISPLAY" > /etc/profile.d/display.sh
-printf "export XAUTHORITY=$XAUTHORITY" > /etc/profile.d/xauth.sh
-chmod +x /etc/profile.d/display.sh
-chmod +x /etc/profile.d/xauth.sh
 
 echo "Ready to connect."
 

docker-compose.yaml

@@ -7,7 +7,7 @@ services:
     build: 
       context: ./build_ros
       args:
-        ROS: humble           #Desired ROS version
+        ROS: galactic           #Desired ROS version
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ./home:/home/ros

start.sh

@@ -1,14 +1,9 @@
 #!/bin/bash
 
-if [[ "$EUID" = 0 ]]; then
+pushd $(dirname "$0")
-  printf "Please run as user. I will invoke sudo when needed."
-  exit
-fi
-
-pushd "$(dirname "$0")" || exit
 
 if [ ! -d "home" ]; then
-  mkdir home
+  mkdir $(dirname "$0")/home
 fi
 
 if [ ! -d "home/.ssh" ]; then
@@ -20,23 +15,23 @@ grep -sqF -- "$ident" "home/.ssh/authorized_keys" || echo "$ident" >> "home/.ssh
 
 sudo docker-compose down
 
-echo U_ID="$(id -u)" > "$(dirname "$0")/.env"
+echo U_ID="$(id -u)" > $(dirname "$0")/.env
-echo G_ID="$(id -g)" >> "$(dirname "$0")/.env"
+echo G_ID="$(id -g)" >> $(dirname "$0")/.env
 
 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="$(sudo docker-compose ps -q)"
+up_result=$(sudo docker-compose ps -q)
 
 hosts=()
 
-while read -r line; do
+while read line; do
-  hosts+=("$(sudo docker inspect --format='{{ .Config.Hostname }}' "$line")")
+  hosts+=(`sudo docker inspect --format='{{ .Config.Hostname }}' $line`)
   #xhost +local:`sudo docker inspect --format='{{ .Config.Hostname }}' $line`
 done <<< "$up_result"
 
 echo "Adding to xhost:"
-for host in "${hosts[@]}"; do
+for host in ${hosts[@]}; do
   echo " + $host"
   xhost "+local:$host"
 done
@@ -45,9 +40,9 @@ echo "Attaching."
 sudo docker-compose up
 
 echo "Removing from xhost:"
-for host in "${hosts[@]}"; do
+for host in ${hosts[@]}; do
   echo " - $host"
   xhost "-local:$host"
 done
 
-popd || exit
+popd