28 lines
1.2 KiB
Docker
Executable File
28 lines
1.2 KiB
Docker
Executable File
ARG ROS=humble
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FROM osrf/ros:${ROS}-desktop-full
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#SSH (First to hopefully keep keys, even on modification.)
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RUN apt-get update && apt-get install -y openssh-server && rm -rf /var/lib/apt/lists/*
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#OpenGL
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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/*
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#Vulkan
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RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-tools mesa-utils && rm -rf /var/lib/apt/lists/*
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#Utils
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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/*
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#Rosdeps
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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 && rm -rf /var/lib/apt/lists/*
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RUN mkdir /run/sshd
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ARG G_ID=1000
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ARG U_ID=1000
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RUN groupadd -f -g ${G_ID} ros
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RUN useradd -u ${U_ID} -g ${G_ID} -m ros
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COPY entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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CMD ["/usr/bin/bash", "-c", "/entrypoint.sh", "${ROS_NAME}"]
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