34 lines
971 B
Docker
34 lines
971 B
Docker
FROM osrf/ros:humble-desktop
|
|
|
|
ARG DEBIAN_FRONTEND=noninteractive
|
|
|
|
ARG USER_UID=1001
|
|
ARG USER_GID=1001
|
|
ARG USERNAME=user
|
|
|
|
WORKDIR /workspaces
|
|
|
|
# Create the user with the given UID and GID
|
|
RUN groupadd --gid $USER_GID $USERNAME
|
|
RUN useradd --uid $USER_UID --gid $USER_GID -m $USERNAME
|
|
RUN mkdir -p -m 0700 /run/user/"${USER_UID}"
|
|
RUN mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
|
|
&& chown user:user /run/user/"${USER_UID}" \
|
|
&& chown user:user /workspaces \
|
|
&& chown user:user /run/user/"${USER_UID}"/gdm
|
|
|
|
RUN apt-get update && \
|
|
DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
|
|
ros-humble-xacro \
|
|
ros-humble-joint-state-publisher-gui \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
ENV XDG_RUNTIME_DIR=/run/user/"${USER_UID}"
|
|
|
|
USER $USERNAME
|
|
|
|
RUN echo "source /ros_entrypoint.sh" >>~/.bashrc
|
|
ARG MAX_ROS_DOMAIN_ID=232
|
|
RUN echo "export ROS_DOMAIN_ID=100" >>~/.bashrc
|
|
RUN echo "set +e" >>~/.bashrc
|