92 lines
No EOL
3.5 KiB
Docker
92 lines
No EOL
3.5 KiB
Docker
# Set the ROS distribution as an argument, defaulting to 'jazzy'
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ARG ROS_DISTRO=foxy
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# You can find available ROS images here: https://hub.docker.com/_/ros/tags
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FROM osrf/ros:${ROS_DISTRO}-desktop
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# Set the maintainer information for this Dockerfile
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LABEL maintainer="Niklas Halle <niklas@niklashalle.net>"
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# Set environment variables
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ENV PIP_BREAK_SYSTEM_PACKAGES=1
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ENV DEBIAN_FRONTEND=noninteractive
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# User and group IDs
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ARG USERNAME=dev
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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# Create the user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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#
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# [Optional] Add sudo support. Omit if you don't need to install software after connecting.
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME
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# Set the default shell to bash for RUN commands
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# This ensures all RUN commands use bash instead of sh
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SHELL ["/bin/bash", "-c"]
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# Update the system and install essential tools
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# This step upgrades all packages and installs utilities needed for development
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RUN apt-get update -q && \
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apt-get upgrade -yq && \
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apt-get install -yq --no-install-recommends \
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apt-utils wget curl git build-essential vim sudo \
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lsb-release locales bash-completion tzdata gosu \
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gedit htop nano libserial-dev ninja-build clang-18 \
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software-properties-common && \
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add-apt-repository ppa:deadsnakes/ppa && \
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apt-get update && \
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apt-get install -y \
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python3.8 \
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python3.8-venv \
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python3.8-dev \
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python3.8-distutils \
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nlohmann-json3-dev \
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curl && \
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rm -rf /var/lib/apt/lists/*
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# Install additional tools required for ROS 2 development
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# These packages help with building and managing ROS 2 workspaces
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RUN apt-get update -q && \
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apt-get install -y gnupg2 iputils-ping usbutils \
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python3-argcomplete python3-colcon-common-extensions \
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python3-networkx python3-pip python3-rosdep python3-vcstool
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# Set up the ROS 2 environment
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# This ensures that ROS 2 commands are available in the shell
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# rosdep is a tool for installing system dependencies for ROS packages
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RUN rosdep update && \
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grep -F "source /opt/ros/${ROS_DISTRO}/setup.bash" /home/dev/.bashrc || echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/dev/.bashrc && \
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grep -F "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" /home/dev/.bashrc || echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /home/dev/.bashrc
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# Bootstrap pip manually (recommended way)
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RUN curl -sS https://bootstrap.pypa.io/pip/3.8/get-pip.py | python3.8
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# Set Python 3.8 as default Python3
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RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 1
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# Install dependencies for ros2_tracing
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RUN add-apt-repository ppa:lttng/stable-2.13 && \
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apt-get update -q && \
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apt-get install -y lttng-tools lttng-modules-dkms liblttng-ust-dev && \
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apt-get install -y python3-babeltrace python3-lttng python3-pytest \
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python3-pytest-cov python3-pandas bison && \
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rm -rf /var/lib/apt/lists/*
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# Python bokeh is not available in the default apt repository
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# So we install it using pip
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RUN python3 -m pip install --upgrade bokeh
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# Install additional Python packages
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RUN python3 -m pip install --upgrade numexpr
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# Add user to the "tracing" group
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RUN usermod -aG tracing $USERNAME
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# [Optional] Set the default user. Omit if you want to keep the default as root.
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USER $USERNAME |