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ARG ROS2_DISTRO
FROM ros:${ROS2_DISTRO}-ros-core
ENV DEBIAN_FRONTEND=noninteractive
ARG APT_MIRROR="us"
RUN sed --in-place --regexp-extended "s|(//)(archive\.ubuntu)|\1${APT_MIRROR}.\2|" /etc/apt/sources.list
RUN apt-get update \
&& apt-get install -y --no-install-recommends \
bash-completion \
build-essential \
locate \
nano \
emacs \
python3-colcon-common-extensions \
python3-pip \
python3-rosdep \
sudo \
&& python3 -m pip install pydocstyle==6.1.1 \
&& python3 -m pip install pandas \
&& rosdep init \
&& apt-get install -y --no-install-recommends \
libeigen3-dev \
libpcl-dev \
libyaml-cpp-dev \
ros-${ROS_DISTRO}-diagnostic-updater \
ros-${ROS_DISTRO}-nav2-amcl \
ros-${ROS_DISTRO}-nav2-lifecycle-manager \
ros-${ROS_DISTRO}-nav2-map-server \
ros-${ROS_DISTRO}-nav2-rviz-plugins \
ros-${ROS_DISTRO}-pcl-conversions \
ros-${ROS_DISTRO}-pcl-msgs \
ros-${ROS_DISTRO}-rqt-image-view \
ros-${ROS_DISTRO}-rqt-graph \
ros-${ROS_DISTRO}-rviz2 \
ros-${ROS_DISTRO}-tf2 \
ros-${ROS_DISTRO}-tf2-geometry-msgs \
ros-${ROS_DISTRO}-tf2-sensor-msgs \
ros-${ROS_DISTRO}-tf2-eigen \
ros-${ROS_DISTRO}-v4l2-camera \
ros-${ROS_DISTRO}-pcl-ros \
&& rm -rf /var/lib/apt/lists/*
ARG USER_ID
ARG GROUP_ID
RUN addgroup --gid ${GROUP_ID} user \
&& adduser --disabled-password --gecos '' --uid ${USER_ID} --gid ${GROUP_ID} user \
&& usermod -a -G sudo,video user \
&& echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER user
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/user/.bashrc \
&& echo "source /home/user/ws/install/setup.bash" >> /home/user/.bashrc
WORKDIR /home/user/ws
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