FROM nvidia/cuda:11.7.1-devel-ubuntu22.04 # FROM nvidia/cuda:11.1.1-cudnn8-devel-ubuntu20.04 ENV DEBIAN_FRONTEND noninteractive RUN apt-get update && apt-get install --no-install-recommends -y \ apt-utils \ bzip2 \ lbzip2 \ tar \ wget \ libzbar0 \ unzip \ build-essential \ zlib1g-dev \ libcurl4-gnutls-dev \ locales \ curl \ gnupg2 \ lsb-release \ && apt autoremove -y && apt clean -y \ && rm -rf /var/lib/apt/lists/* # https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Debians/ ENV ROS_DISTRO=humble ENV LANG=C.UTF-8 ENV LC_ALL=C.UTF-8 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \ && wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \ && apt update && apt install --no-install-recommends -y \ ros-${ROS_DISTRO}-ros-base \ ros-${ROS_DISTRO}-rclcpp-cascade-lifecycle \ ros-${ROS_DISTRO}-geographic-msgs \ ros-${ROS_DISTRO}-camera-info-manager \ ros-${ROS_DISTRO}-launch-testing-ament-cmake \ ros-${ROS_DISTRO}-diagnostic-updater \ ros-${ROS_DISTRO}-rviz2 \ ros-${ROS_DISTRO}-gazebo-ros \ ros-${ROS_DISTRO}-gazebo-ros-pkgs \ ros-${ROS_DISTRO}-gazebo-msgs \ ros-${ROS_DISTRO}-gazebo-plugins \ ros-${ROS_DISTRO}-robot-state-publisher \ ros-${ROS_DISTRO}-cv-bridge \ ros-${ROS_DISTRO}-message-filters \ ros-${ROS_DISTRO}-image-transport \ ros-${ROS_DISTRO}-rqt* \ ros-${ROS_DISTRO}-slam-toolbox \ ros-${ROS_DISTRO}-navigation2 \ ros-${ROS_DISTRO}-nav2-bringup \ ros-${ROS_DISTRO}-behaviortree-cpp-v3 \ ros-${ROS_DISTRO}-angles \ ros-${ROS_DISTRO}-ompl \ ros-${ROS_DISTRO}-turtlebot3* \ ros-${ROS_DISTRO}-image-geometry \ && apt autoremove && apt clean -y \ && rm -rf /var/lib/apt/lists/* # Install ROS2 gazebo dependencies RUN apt update && apt-get install --no-install-recommends -y \ libglvnd0 \ libglx0 \ libegl1 \ libxext6 \ libx11-6 \ libblkid-dev \ e2fslibs-dev \ libboost-all-dev \ libaudit-dev \ git \ nano \ # ------------------------------ && apt autoremove && apt clean -y \ && rm -rf /var/lib/apt/lists/* RUN apt update && apt install --no-install-recommends -y \ python3-dev \ python3-pip \ python3-colcon-common-extensions \ && pip3 install rosdep \ && rosdep init \ && rosdep update \ && apt autoremove && apt clean -y \ && rm -rf /var/lib/apt/lists/* # Or your actual UID, GID on Linux if not the default 1000 ARG USERNAME=dev ARG USER_UID=1000 ARG USER_GID=$USER_UID # Create a non-root user to use if preferred - see https://aka.ms/vscode-remote/containers/non-root-user. RUN groupadd --gid $USER_GID $USERNAME \ && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ # Add sudo support for 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 \ && apt-get autoremove && apt-get clean -y \ && rm -rf /var/lib/apt/lists/* RUN \ mkdir -p /home/${USERNAME}/.ignition/fuel/ \ && echo "servers:\n -\n name: osrf\n url: https://api.ignitionrobotics.org" >> /home/${USERNAME}/.ignition/fuel/config.yaml \ && chown ${USERNAME} /home/${USERNAME}/.ignition \ && GAZEBO_SOURCE="source /usr/share/gazebo/setup.sh" \ && echo $GAZEBO_SOURCE >> "/home/${USERNAME}/.bashrc" \ && chown ${USERNAME} /home/${USERNAME}/.ignition # ROS2 source setup RUN ROS_SOURCE="source /opt/ros/${ROS_DISTRO}/setup.sh" \ && echo $ROS_SOURCE >> "/home/${USERNAME}/.bashrc" WORKDIR /workspace/ros_ws/src # Give permission to non-root user to access the workspace RUN chown -R ${USERNAME} /workspace/ros_ws RUN git clone https://github.com/charlielito/slam_gmapping.git --branch feature/namespace_launch # Switch back to dialog for any ad-hoc use of apt-get ENV DEBIAN_FRONTEND= CMD ["/bin/bash"]