manipulator_multi_controllers/Dockerfile at main · mlisi1/manipulator_multi_controllers · GitHub

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FROM ubuntu:22.04 AS builder

# Install build essentials
RUN apt-get update && apt-get install -y \
    build-essential \
    cmake \
    git \
    python3-dev \
    python3-pip \
    && rm -rf /var/lib/apt/lists/*


RUN git clone https://github.com/casadi/casadi.git -b main casadi
RUN cd casadi && mkdir build && cd build && cmake .. && make && make install DESTDIR=/casadi-install

RUN git clone https://github.com/jbeder/yaml-cpp.git
RUN cd yaml-cpp && mkdir -p build && cd build && cmake .. && cmake --build . && make && make install DESTDIR=/yaml-cpp-install

FROM osrf/ros:humble-desktop-full-jammy


COPY --from=builder /casadi-install/ /
COPY --from=builder /yaml-cpp-install/ /

# Create a non-root user
ARG USERNAME=ros
ARG USER_UID=1000
ARG USER_GID=$USER_UID

ENV DISPLAY=:0

RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  && mkdir /home/$USERNAME/.config && chown $USER_UID:$USER_GID /home/$USERNAME/.config


# Set up sudo
RUN apt-get update \
  && apt-get upgrade -y \
  && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*


# Copy the entrypoint and bashrc scripts so we have
# our container's environment set up correctly


# Set ENV for NVIDIA
ENV NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics


WORKDIR /home/$USERNAME/


RUN apt-get update && apt-get install -y \
    ros-humble-gazebo-ros2-control \
    ros-humble-joint-state-publisher-gui \
    ros-humble-ros2-control \
    ros-humble-joint-state-broadcaster \
    python3-dev \
    python3-pip \
    && rm -rf /var/lib/apt/lists/*

RUN pip install numpy==1.25 && pip install numpy-quaternion

COPY docker_res/entrypoint.sh /entrypoint.sh
COPY docker_res/bashrc /home/${USERNAME}/.bashrc

USER ros
RUN bash -c "source /home/ros/.bashrc"
# RUN sudo echo 'source /home/ros/install/setup.bash' >> /home/${USERNAME}/.bashrc


RUN sudo chmod +x /entrypoint.sh
# Set up entrypoint and default command
ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]