Added DISPLAY to env.

Did you know echo cmd was unstable? I didn't.

.env

@@ -0,0 +1,2 @@
+U_ID=1000
+G_ID=1000

.gitignore

@@ -1,5 +1,6 @@
-/*
 !/docker-compose.yaml
 !/build_ros
 !/start.sh
+!/shell.sh
 !/.gitignore
+/home

build_ros/Dockerfile

@@ -1,11 +1,26 @@
 ARG ROS=humble
 FROM osrf/ros:${ROS}-desktop
-RUN apt-get update && 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 apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils
 
-ARG GID=1000
+#SSH (First to hopefully keep keys, even on modification.)
-ARG UID=1000
+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/*
 
-RUN groupadd -f -g $GID ros
+ARG G_ID=1000
-RUN useradd -u $UID -g $GID -m ros
+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}"]

build_ros/entrypoint.sh

@@ -1,9 +1,37 @@
 #!/bin/bash
 
-groupadd -f -g $GID ros
+if [ ! -f /home/ros/docker_image_version ]; then
-useradd -u $UID -g $GID -m ros
+    echo "0" > /home/ros/docker_image_version
-usermod -aG video ros
+fi
-usermod -aG render ros
-chown -R $UID:$GID /home/ros
 
-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"
+    printf "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 "printf 'source /opt/ros/$ROS_DISTRO/setup.bash\nsource /home/ros/workspace/install/setup.bash' > ~/.rosrc"
+printf "DISPLAY=$DISPLAY" > /etc/profile.d/display.sh
+
+echo "Ready to connect."
+
+/usr/sbin/sshd -p 2222 -D

docker-compose.yaml

@@ -2,13 +2,12 @@ version: "3.2"
 
 services:
   ros:
+    hostname: ros
     image: ros/custom
     build: 
       context: ./build_ros
       args:
         ROS: galactic           #Desired ROS version
-        UID: ${U_ID}
-        GID: ${G_ID}
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ./home:/home/ros
@@ -17,11 +16,10 @@ services:
     environment:
       - DISPLAY=$DISPLAY
       - XAUTHORITY=$XAUTHORITY
-      - U_ID=${U_ID}
-      - G_ID=${G_ID}
-    user: ${U_ID}:${G_ID}
     stdin_open: true
     tty: true
+    ports:
+      - "2222:2222"
     #group_add:
     #  - video
     #  - render

shell.sh

@@ -0,0 +1 @@
+sudo docker-compose exec -w /home/ros ros bash

start.sh

@@ -3,6 +3,10 @@
 mkdir $(dirname "$0")/home
 
 sudo docker-compose down
+
+echo U_ID="$(id -u)" > $(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
 
@@ -22,7 +26,6 @@ for host in ${hosts[@]}; do
 done
 
 echo "Attaching."
-echo "You are ready for shell access."
 sudo docker-compose up
 
 echo "Removing from xhost:"