Dockerfile.rviz

FROM ubuntu:22.04

ARG UID=1000
ARG GID=1000

# add new sudo user
ENV USERNAME=humble
ENV HOME=/home/$USERNAME
RUN useradd -m $USERNAME && \
        echo "$USERNAME:$USERNAME" | chpasswd && \
        usermod --shell /bin/bash $USERNAME && \
        usermod -aG sudo $USERNAME && \
        mkdir /etc/sudoers.d && \
        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
        chmod 0440 /etc/sudoers.d/$USERNAME && \
        usermod  --uid $UID $USERNAME && \
        groupmod --gid $GID $USERNAME

# install package
RUN echo "Acquire::GzipIndexes \"false\"; Acquire::CompressionTypes::Order:: \"gz\";" > /etc/apt/apt.conf.d/docker-gzip-indexes
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
        sudo \
        less \
        emacs \
        tmux \
        bash-completion \
        command-not-found \
        software-properties-common \
        curl \
        wget \
        coreutils \
        build-essential \
        pkg-config \
        git \
        xdg-user-dirs \
        libgl1-mesa-dev \
        freeglut3-dev \
        mesa-utils \
        vulkan-tools \
        libvulkan-dev \
        libglfw3-dev \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# install ROS2 Humble
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-humble-desktop-full \
        ros-dev-tools \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# install colcon and rosdep
RUN apt-get update && apt-get install -y --no-install-recommends \
        python3-colcon-common-extensions \
        python3-rosdep \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

USER $USERNAME
WORKDIR /home/$USERNAME
SHELL ["/bin/bash", "-l", "-c"]

# initialize rosdep
RUN sudo rosdep init && \
    rosdep update

RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && \
    echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

RUN sudo rm /etc/apt/apt.conf.d/docker-clean