Dockerfile

# This Dockerfile builds multiple stages so it can be used for testing and development

# ============================================
# The minimum requirements for running cordial
# ============================================
FROM ros:kinetic-ros-base-xenial as cordial_min

# Pass in a command line arguement to set the branch to use
# e.g., docker build --build-arg cordial_branch=master --target cordial_dev .
ARG cordial_branch="master"
ARG cordial_remote="https://github.com/robotpt/cordial.git"

ENV ROS_WS /root/catkin_ws

# TODO: see if this can be deleted
# Setup new ROS key + install ros packages
RUN \
	apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 \
	&& apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
	&& apt-get update -y && apt-get upgrade -y \
	&& apt-get install -y \
		ros-$ROS_DISTRO-ros-control \
		ros-$ROS_DISTRO-ros-controllers \
		ros-$ROS_DISTRO-gazebo-ros-pkgs \
		ros-$ROS_DISTRO-gazebo-ros-control \
		ros-$ROS_DISTRO-rosbridge-server \
		ros-$ROS_DISTRO-audio-common \
		ros-$ROS_DISTRO-mongodb-store \
		ros-$ROS_DISTRO-mongodb-log \
	&& rm -rf /var/lib/apt/lists/*

# Setup Python2 for cordial
RUN \
	apt-get update -y && apt-get upgrade -y \
	&& apt-get install -y \
		alsa \
		gstreamer1.0-alsa \
		vorbis-tools \
		awscli \
	&& apt-get install -y \
		python \
		python-pip \
		python-scipy \
		python-gst0.10 \
		python-mock \
		python-pyaudio \
	&& python2 -m pip install --upgrade pip==20.3.3 \
	&& python2 -m pip install \
		rospkg \
		catkin_pkg \
		boto3==1.12.11 \
		soundfile==0.10.3.post1 \
		speedtest-cli==2.1.2 \
	&& rm -rf /var/lib/apt/lists/*

# Setup HTTP server
RUN \
	apt-get update -y && apt-get upgrade -y \
	&& apt-get install -y \
		nodejs \
		npm \
	&& npm install http-server -g \
	&& ln -s /usr/bin/nodejs /usr/bin/node \
	&& rm -rf /var/lib/apt/lists/*

# Setup the ROS workspace
RUN \
	mkdir -p ${ROS_WS}/src \
	&& cd ${ROS_WS}/src \
	&& git clone --branch ${cordial_branch} ${cordial_remote} \
	&& git clone https://github.com/RobotWebTools/rosbridge_suite.git \
	&& cd ..; /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin_make"


# ======================================================
# Copy the testing entrypoint for testing cordial - full
# ======================================================
FROM cordial_min as cordial_test_full
COPY ./scripts/test_full.sh /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]

# ====================================================
# Copy the testing entrypoint for testing cordial - PR
# ====================================================
FROM cordial_min as cordial_test_pr
COPY ./scripts/test_pr.sh /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]


# ============================================
# A set of tools to help in developing cordial
# ============================================
FROM cordial_min as cordial_dev

# Set frontend to avoid debconf display errors
ENV DEBIAN_FRONTEND noninteractive

# Install essentials
RUN \
	apt-get update -y && apt-get upgrade -y \
	&& apt-get install -y \
		software-properties-common \
		apt-utils \
	&& apt-get update -y \
	&& apt-get install -y \
		curl \
		wget \
		tmux \
		zsh \
		vim \
		sudo \
		libgl1-mesa-glx \
		libgl1-mesa-dri \
		mesa-utils \
		unzip \
		terminator \
		git-gui \
		fonts-powerline \
		meld \
		nautilus \
		vlc \
	&& sed -i 's/geteuid/getppid/' /usr/bin/vlc \
	&& rm -rf /var/lib/apt/lists/* 

# Setup Pycharm
RUN \
	wget https://download.jetbrains.com/python/pycharm-community-2020.2.1.tar.gz?_ga=2.164454841.706163669.1598639929-1052883321.1598639929 \
	&& mv pycharm-community-* pycharm-community.tar.gz \
	&& tar xfz pycharm-*.tar.gz -C /opt/ \
	&& rm pycharm-community.tar.gz \
	&& echo 'alias pycharm="/opt/pycharm-community*/bin/pycharm.sh"' >> /root/.bashrc 

# Install Visual Studio Code
RUN \
	apt-get update -y \
	&& apt-get install -y \
		apt-transport-https \
		ca-certificates \
	&& curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \
	&& mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \
	&& sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list' \
	&& apt-get update -y \
	&& apt-get install -y code \
	&& rm -rf /var/lib/apt/lists/* 

# Add github command line
RUN \
	apt-get update \
	&& apt-key adv --keyserver keyserver.ubuntu.com --recv-key C99B11DEB97541F0 \
	&& apt-add-repository https://cli.github.com/packages \
	&& apt-get update \
	&& apt-get install -y \
		gh \
	&& rm -rf /var/lib/apt/lists/*

# Setup Python3
ARG python_version="python3.8"
RUN \
	add-apt-repository ppa:deadsnakes/ppa -y \
	&& apt-get update \
	&& apt-get install -y \
		${python_version} \
		${python_version}-dev \
		${python_version}-venv \
	# Setup pip
	&& curl https://bootstrap.pypa.io/get-pip.py | sudo python3.8 \
	&& ${python_version} -m pip install \
		rospkg \
		catkin_pkg \
	&& rm -rf /var/lib/apt/lists/*

# Put things you want in your ~/.bashrc here
RUN \
	unset DEBIAN_FRONTEND \
	&& echo " \
alias gb='git branch -a'\n\
alias gcb='git checkout -b '\n\
alias gd='git diff HEAD'\n\
alias gg='git gui'\n\
alias gl='git log --pretty=oneline --graph'\n\
alias rh='cd $ROS_PATH'\n\
alias gs='git status'\n\
alias code='code --user-data-dir /root/.visual_code/'\n\
alias STRESS='stress -c $(nproc) -m $(nproc) -i $(nproc) -d $(nproc)'\n\
source ${ROS_WS}/devel/setup.bash\n\
" >> ~/.bashrc