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Dockerfile
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Dockerfile
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##############
# Base image #
##############
FROM ros:noetic-robot as base
ARG CATKIN_WORKSPACE_DIR="/catkin_ws"
LABEL org.opencontainers.image.authors="tobit.flatscher@outlook.com"
LABEL description="ROS Noetic Docker template"
LABEL version="1.0"
WORKDIR ${CATKIN_WORKSPACE_DIR}
SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
&& apt-get -y install \
git \
python3-catkin-tools \
python3-osrf-pycommon \
&& rm -rf /var/lib/apt/lists/*
# Add additional installation instructions here...
ENV DEBIAN_FRONTEND=dialog
#####################
# Development image #
#####################
FROM base as dev
ARG CATKIN_WORKSPACE_DIR="/catkin_ws"
ARG USERNAME="developer"
ARG UID=1000
ARG GID=1000
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
&& apt-get install -y \
ack \
cloc \
gdb \
htop \
iperf3 \
iputils-ping \
mlocate \
net-tools \
psmisc \
python3-vcstool \
tmux \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update \
&& apt-get install -y \
ros-${ROS_DISTRO}-rviz \
&& rm -rf /var/lib/apt/lists/*
# Install additional developer tools here...
RUN apt-get update \
&& apt-get install -y sudo \
&& rm -rf /var/lib/apt/lists/* \
&& addgroup --gid ${GID} ${USERNAME} \
&& adduser --disabled-password --gecos '' --uid ${GID} --gid ${GID} ${USERNAME} \
&& echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
&& chown -R ${UID}:${GID} /home/${USERNAME} \
&& chown -R ${UID}:${GID} ${CATKIN_WORKSPACE_DIR}
ENV DEBIAN_FRONTEND=dialog
RUN echo "alias rsource='source ${CATKIN_WORKSPACE_DIR}/devel/setup.bash'" >> /home/${USERNAME}/.bash_aliases \
&& echo "alias rbuild='(cd ${CATKIN_WORKSPACE_DIR} && catkin build)'" >> /home/${USERNAME}/.bash_aliases \
&& echo "alias rclean='(cd ${CATKIN_WORKSPACE_DIR} && catkin clean -y)'" >> /home/${USERNAME}/.bash_aliases \
&& echo "rsource || source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USERNAME}/.bashrc
USER ${USERNAME}