Dockerfile

# Build argument for ROS distro (humble or jazzy)
ARG ROS_DISTRO=humble
FROM osrf/ros:${ROS_DISTRO}-desktop-full

# Arguments for building
ARG USERID
ARG USER
ARG ROS_DISTRO

# Setup environment
ENV TERM=linux
ENV DEBIAN_FRONTEND=noninteractive
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections

# Copy requirement files and install dependencies
COPY docker/requirements.txt .
RUN apt-get update && apt-get install --no-install-recommends -y $(cat requirements.txt)
RUN rm requirements.txt

# Copy ROS requirement files and install ROS dependencies
# This pre-installs ROS dependencies to speed up rosdep install
COPY docker/ros_requirements.txt .
RUN apt-get update && apt-get install --no-install-recommends -y $(sed "s/\${ROS_DISTRO}/${ROS_DISTRO}/g" ros_requirements.txt | grep -v '^#' | grep -v '^$')
RUN rm ros_requirements.txt

# Create a user with passwordless sudo
RUN adduser --uid $USERID --gecos "ekumen developer" --disabled-password $USER
RUN adduser $USER sudo
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
RUN echo "export QT_X11_NO_MITSHM=1" >> /home/$USER/.bashrc
USER $USER

# Adds USER to dialout and plugdev group.
# This is needed to access the serial ports, for further references check
# the libserial documentation.
RUN sudo usermod -a -G dialout $USER
RUN sudo usermod -a -G plugdev $USER

# Creates the src folder of the workspace.
RUN mkdir -p /home/$USER/ws/src

# Adds to bashrc the ROS overlay sourcing.
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc
# Adds colcon autocomplete
RUN echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> /home/$USER/.bashrc

# Updates
RUN sudo apt upgrade -y && sudo apt update && rosdep update

# Defines a workspace folder.
WORKDIR /home/$USER/ws

CMD ["/bin/bash"]