ARG ROS=humble 
FROM osrf/ros:${ROS}-desktop
RUN apt-get update -y
RUN apt-get install -y ros-galactic-ros-ign-gazebo
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 install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils
ARG UID=1000
ARG GID=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