Dockerfile-2.4.base

FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu18.04

ARG VIRTUALGL_VERSION=2.6.80
ARG TURBOVNC_VERSION=2.2.80

# Make all NVIDIA GPUS visible
ARG NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES all

# Setup NON INTERACTIVE ENVIRONMENT
ARG DEBIAN_FRONTEND=noninteractive

# Install locales to prevent errors
RUN apt-get clean && \
    apt-get update && \
    apt-get install --no-install-recommends -y locales && \
    rm -rf /var/lib/apt/lists/* && \
    locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8

# Install desktop and tools
RUN apt-get update && apt-get install -y \
        software-properties-common \
        apt-utils \
        build-essential make gcc git \
        ca-certificates \
        curl wget \
        gzip zip unzip \
        libc6-dev libglu1 libglu1:i386 libegl1-mesa libegl1-mesa:i386 \
        libsm6 libxv1 libxv1:i386 libpci3 \
        python python-numpy python3 python3-numpy libpython-dev \
        x11-xkb-utils xauth xfonts-base xkb-data \
        libxtst6 libxtst6:i386 \
        mlocate \
        nano vim \
        htop net-tools \
        xterm rsync \
        lubuntu-core lubuntu-desktop && \
    rm -rf /var/lib/apt/lists/*

# Install VirtualGL and TurboVNC
RUN curl -fsSL -O https://s3.amazonaws.com/virtualgl-pr/dev/linux/virtualgl_${VIRTUALGL_VERSION}_amd64.deb && \
    curl -fsSL -O https://s3.amazonaws.com/virtualgl-pr/dev/linux/virtualgl32_${VIRTUALGL_VERSION}_amd64.deb && \
    apt-get update && apt-get install -y --no-install-recommends ./virtualgl_${VIRTUALGL_VERSION}_amd64.deb ./virtualgl32_${VIRTUALGL_VERSION}_amd64.deb && \
    rm virtualgl_${VIRTUALGL_VERSION}_amd64.deb virtualgl32_${VIRTUALGL_VERSION}_amd64.deb && \
    chmod u+s /usr/lib/libvglfaker.so && \
    chmod u+s /usr/lib/libdlfaker.so && \
    chmod u+s /usr/lib32/libvglfaker.so && \
    chmod u+s /usr/lib32/libdlfaker.so && \
    chmod u+s /usr/lib/i386-linux-gnu/libvglfaker.so && \
    chmod u+s /usr/lib/i386-linux-gnu/libdlfaker.so && \
    curl -fsSL -O https://s3.amazonaws.com/turbovnc-pr/dev/linux/turbovnc_${TURBOVNC_VERSION}_amd64.deb && \
    apt-get update && apt-get install -y --no-install-recommends ./turbovnc_${TURBOVNC_VERSION}_amd64.deb && \
    rm turbovnc_${TURBOVNC_VERSION}_amd64.deb && \
    rm -rf /var/lib/apt/lists/* && \
    echo -e "no-remote-connections\n\
no-httpd\n\
no-x11-tcp-connections\n\
no-pam-sessions\n\
permitted-security-types = None, VNC, otp\
" > /etc/turbovncserver-security.conf
# Set paths for VirtualGL and turboVNC
ENV PATH "$PATH:/opt/VirtualGL/bin:/opt/TurboVNC/bin"

# Install noVNC and Websockify
RUN git clone https://github.com/novnc/noVNC.git -b v1.2.0 && \
	cd noVNC/utils && \
	git clone https://github.com/novnc/websockify websockify -b v0.9.0

# Xorg segfault error mitigation
RUN apt-get update && apt-get install -y --no-install-recommends \
        dbus-x11 \
        libdbus-c++-1-0v5 && \
    rm -rf /var/lib/apt/lists/*

# PX4
# RUN apt remove modemmanager
RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
		bzip2 \
		ca-certificates \
		ccache \
		cmake \
		cppcheck \
		curl \
		dirmngr \
		doxygen \
		exiftool \
		file \
		g++ \
		gcc \
		gdb \
		genromfs \
		git \
		gnupg \
		gosu \
		lcov \
		libfreetype6-dev \
		libgtest-dev \
		libpng-dev \
		libssl-dev \
		lsb-release \
		make \
		ninja-build \
		openjdk-8-jdk \
		openjdk-8-jre \
		openssh-client \
		pkg-config \
		python3-dev \
		python3-pip \
		qtcreator \
		rsync \
		shellcheck \
		tzdata \
		unzip \
		valgrind \
		wget \
		xsltproc \
		zip \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
	
RUN which xxd || apt install xxd -y || apt install vim-common --no-install-recommends -y

# gtest
RUN apt-get update && apt-get install -y libgtest-dev cmake && \
	cd /usr/src/gtest \
	&& mkdir build && cd build \
	&& cmake .. && make -j$(nproc) \
	&& cp *.a /usr/lib \
	&& cd .. && rm -rf build \
	rm -rf /var/lib/apt/lists/*

# Install Python 3 pip build dependencies first.
RUN pip3 install wheel setuptools

# Python 3 dependencies installed by pip
RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
		matplotlib==3.0.* numpy nunavut packaging pkgconfig pyros-genmsg pyulog \
		pyyaml requests serial six toml psutil pyulog wheel

# manual ccache setup
RUN ln -sf /usr/bin/ccache /usr/lib/ccache/cc \
	&& ln -sf /usr/bin/ccache /usr/lib/ccache/c++

# astyle v3.1
RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1/astyle_3.1_linux.tar.gz -O /tmp/astyle.tar.gz \
	&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
	&& rm -rf /tmp/*

# Gradle (Required to build Fast-RTPS-Gen)
RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip" -O /tmp/gradle-6.3-rc-4-bin.zip \
	&& mkdir /opt/gradle \
	&& cd /tmp \
	&& unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \
	&& rm -rf /tmp/*

ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH"

# Fast-RTPS 1.8.2
RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.2 /tmp/FastRTPS-1.8.2 \
	&& cd /tmp/FastRTPS-1.8.2 \
	&& mkdir build && cd build \
	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
	&& cmake --build . --target install -- -j $(nproc) \
	&& rm -rf /tmp/*

# Fast-RTPS-Gen 1.0.4
RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
	&& gradle assemble \
	&& gradle install \
	&& rm -rf /tmp/*

# Install ROS and ROS packages
ENV ROS_DISTRO melodic
RUN apt-get update && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
	&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
	&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
	&& apt-get update \
	&& apt-get -y --quiet --no-install-recommends install \
		ros-$ROS_DISTRO-desktop-full \
		geographiclib-tools \
		libeigen3-dev \
		libgeographic-dev \
		libopencv-dev \
		libyaml-cpp-dev \
		python-pip \
		python-tk \
		ros-$ROS_DISTRO-gazebo-ros-pkgs \
		ros-$ROS_DISTRO-jderobot-drones \
		ros-$ROS_DISTRO-mav-msgs \
		ros-$ROS_DISTRO-mavlink \
		ros-$ROS_DISTRO-mavros \
		ros-$ROS_DISTRO-mavros-extras \
		ros-$ROS_DISTRO-octomap \
		ros-$ROS_DISTRO-octomap-msgs \
		ros-$ROS_DISTRO-pcl-conversions \
		ros-$ROS_DISTRO-pcl-msgs \
		ros-$ROS_DISTRO-pcl-ros \
		ros-$ROS_DISTRO-ros-base \
		ros-$ROS_DISTRO-rostest \
		ros-$ROS_DISTRO-rosunit \
		ros-$ROS_DISTRO-xacro \
	&& geographiclib-get-geoids egm96-5 \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

# Install everything again for Python 2 because we could not get Firmware
# to compile using catkin without it.
ENV PIP_DEFAULT_TIMEOUT=1000
RUN pip install wheel setuptools
RUN pip install argcomplete argparse catkin_pkg catkin-tools cerberus coverage 
RUN pip install packaging pyros-genmsg pyulog==0.8.* pyyaml requests rosdep rospkg serial six toml
RUN pip install empy jinja2 matplotlib==2.2.* numpy pkgconfig px4tools pygments 
RUN pip install pymavlink 
    
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init && rosdep update 

# catkin build tools
RUN apt-get update && apt-get install -y \
    python-pyproj \
    python-catkin-tools \
    && apt-get clean

# PX4 src
RUN apt-get update && \
     apt upgrade -y --quiet --no-install-recommends libignition-math2
RUN git clone --recursive https://github.com/PX4/Firmware.git -b v1.11.3 
#TOD0 https://github.com/PX4/PX4-Autopilot/issues/13117
RUN sudo apt-get install libgstreamer-plugins-base1.0-dev -y
RUN cd /Firmware \
	&& DONT_RUN=1 make px4_sitl_default gazebo \
    && rm -rf /var/lib/apt/lists/*

#---------------------------------------------------------------------
# Certain Dependencies for Exercises
#---------------------------------------------------------------------
RUN apt-get update && \ 
	# Vacuum Cleaner Exercise
	apt-get -y --quiet install ros-melodic-kobuki-msgs  && \
	# Drone-cat-mouse
   	apt-get -y --quiet --no-install-recommends install xmlstarlet && \
	# Follow Turtlebot exercise
	apt-get -y --quiet --no-install-recommends install \
		ros-$ROS_DISTRO-turtlebot3-description

#---------------------------------------------------------------------
# websocket server dependency
#---------------------------------------------------------------------
RUN apt-get update && apt-get install -y python2.7 python-pip
RUN pip install websocket_server posix-ipc
RUN apt-get install -y python3.8 python3-pip
RUN python3.8 -m pip install websockets asyncio

# Setup environment variables
RUN echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/Firmware' >> ~/.bashrc
RUN echo 'export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/Firmware/Tools/sitl_gazebo' >> ~/.bashrc
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

# Other exercises specific dependcies similar to PX4 like MoveIt may go here!
# ...
# ...

# Constant installations
# Dependencies required for all the exercises may go here!
# In case of a new dependency
# For installation with apt-get add it to the list of apt-get dependencies
# For installation from a git repository add it to the end
# Put the other commands in bashrc file
RUN echo 'source /opt/ros/melodic/setup.bash' >> ~/.bashrc
RUN echo 'source /usr/share/gazebo-9/setup.sh' >> ~/.bashrc

# apt-get install dependencies
# Nodejs, x11vnc, xterm, xdummy, python2, pip2, python3, pip3
RUN apt-get update && apt-get --no-install-recommends install -y \
		x11vnc \
		xterm \
		xserver-xorg-video-dummy \ 
		x11-apps \
		python2.7 \
		python-pip \
		python3.8 \
		python3-pip \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

RUN wget https://xpra.org/xorg.conf \
	&& rm -rf /tmp/*

# ROS dependencies for exercises
# ros-melodic-kobuki-msgs: Vaccuum Cleaner
# xmlstarlet: Drone Cat Mouse
# ros-$ROS_DISTRO-turtlebot3-description: Follow Turtlebot
RUN apt-get -y --quiet --no-install-recommends install \
		ros-melodic-kobuki-msgs \
		xmlstarlet \
		ros-$ROS_DISTRO-turtlebot3-description \
	&& apt-get -y autoremove \
	&& apt-get clean autoclean \
	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*

# python dependencies
RUN pip install websocket_server posix-ipc
RUN python3.8 -m pip install websockets asyncio
RUN pip3 install django