Better env handling

Added root prevention

.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 +1,27 @@
 ARG ROS=humble
-FROM osrf/ros:${ROS}-desktop
+FROM osrf/ros:${ROS}-desktop-full
-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 groupadd -f -g $GID ros
+#OpenGL
-RUN useradd -u $UID -g $GID -m ros
+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/*
+#Utils
+RUN apt-get update && apt-get install -y gdb clang-format git ninja-build git bash-completion python3-pylsp clangd ccls && 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 mkdir /run/sshd
+
+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}"]

build_ros/entrypoint.sh

@@ -1,9 +1,39 @@
 #!/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/$ROS_DISTRO/setup.bash
+source /home/ros/workspace/install/setup.bash
+export DISPLAY=$DISPLAY
+export XAUTHORITY=$XAUTHORITY' > ~/.rosrc"
+
+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
+        ROS: humble           #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

@@ -1,32 +1,53 @@
 #!/bin/bash
 
-mkdir $(dirname "$0")/home
+if [[ "$EUID" = 0 ]]; then
+  printf "Please run as user. I will invoke sudo when needed."
+  exit
+fi
+
+pushd "$(dirname "$0")" || exit
+
+if [ ! -d "home" ]; then
+  mkdir home
+fi
+
+if [ ! -d "home/.ssh" ]; then
+  mkdir home/.ssh
+fi
+
+ident=$(<~/.ssh/id_rsa.pub)
+grep -sqF -- "$ident" "home/.ssh/authorized_keys" || echo "$ident" >> "home/.ssh/authorized_keys"
 
 sudo docker-compose down
+
+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
 
-up_result=$(sudo docker-compose ps -q)
+up_result="$(sudo docker-compose ps -q)"
 
 hosts=()
 
-while read line; do
+while read -r 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
 
 echo "Attaching."
-echo "You are ready for shell access."
 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