gazebo10.Dockerfile

##################################################
# Created from template gazebo.dockerfile.jinja
##################################################

###########################################
# Base image 
###########################################
FROM ubuntu:18.04 AS base

# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

# Install gazebo
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    lsb-release \
    wget \
  && sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
  && wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
  && apt-get update && apt-get install -y \
    gazebo10 \
  && rm -rf /var/lib/apt/lists/*

###########################################
# Develop image 
###########################################
FROM base AS dev

ENV DEBIAN_FRONTEND=noninteractive
# Install dev tools
RUN apt-get update && apt-get install -y \
    libgazebo10-dev \
  && rm -rf /var/lib/apt/lists/*

ARG USERNAME=ros
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  # [Optional] Add sudo support for the non-root user
  && apt-get update \
  && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  # Cleanup
  && rm -rf /var/lib/apt/lists/* \
  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
ENV DEBIAN_FRONTEND=

###########################################
#  Full+Gazebo+Nvidia image 
###########################################

FROM gazebo AS nvidia

################
# Expose the nvidia driver to allow opengl 
# Dependencies for glvnd and X11.
################
RUN apt-get update \
 && apt-get install -y -qq --no-install-recommends \
  libglvnd0 \
  libgl1 \
  libglx0 \
  libegl1 \
  libxext6 \
  libx11-6

# Env vars for the nvidia-container-runtime.
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
ENV QT_X11_NO_MITSHM 1