Dockerfile

FROM ros:noetic

### Arguments ###
ARG BUILD_DIR_NAME=docker-build
ARG DEBIAN_FRONTEND=noninteractive
ENV WORKDIR=/root/$BUILD_DIR_NAME
ENV LIBGL_ALWAYS_INDIRECT=1
ENV XDG_RUNTIME_DIR=/tmp/runtime-root

# Set the workdir
WORKDIR $WORKDIR

### Basic Setup ###

# Update and install tools
RUN apt-get update && apt-get install -y --no-install-recommends \
    openssh-server \
    xvfb \
    bat \
    vim \
    neovim \
    nano \
    tmux \
    screen \
    curl \
    wget \
    usbutils apt-utils \
    ros-noetic-cv-bridge \
    ros-noetic-resource-retriever \
    ros-noetic-actionlib-tools \
    ros-noetic-robot-localization \
    ros-noetic-image-transport-plugins \
    python-dev-is-python3 \
    python3-pip \
    python3-catkin-tools python3-osrf-pycommon \
    git \
    gdb \
    valgrind \
    locales && \
    apt-get clean && \
    # Clear apt caches to reduce image size
    rm -rf /var/lib/apt/lists/*

# Set up locales
RUN locale-gen en_GB.UTF-8 && locale-gen en_US.UTF-8

# Set a password for root
RUN echo root:robotics | chpasswd

# Allow root to login over ssh and forward graphics over ssh
# Allow for environment variables to be set in ssh
RUN echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && \
    echo "X11UseLocalhost no" >> /etc/ssh/sshd_config && \
    echo "PermitUserEnvironment yes" >> /etc/ssh/sshd_config && \
    mkdir -p /root/.ssh && \
    touch /root/.ssh/environment

COPY ssh_entry.sh /root/.bash_profile
COPY ros_bashrc.sh /root/ros_bashrc.sh
RUN echo "source /root/ros_bashrc.sh" >> /root/.bashrc

COPY tmux.conf /etc/

### Final Setup ###

# Install common pip packages
RUN pip3 install autopep8 psutil

# Add catkin ws
RUN mkdir -p /root/dev/robosub-ros

# Copy and set entrypoint script
COPY entrypoint.sh entrypoint.sh
RUN chmod +x entrypoint.sh
ENTRYPOINT $WORKDIR/entrypoint.sh