feat: Fix file copy ownership

j3soon · Nov 1, 2024 · ced462f · ced462f
1 parent 1876e05
commit ced462f
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Showing 11 changed files with 50 additions and 32 deletions.
diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile
@@ -114,7 +114,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -138,7 +138,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 # Install Aloha Interbotix dependencies
 # Ref: https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html#amd64-architecture
 # Ref: https://github.com/Interbotix/interbotix_ros_manipulators/blob/humble/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh
-# Install ros packages based on Interbotix rosdeps
+# Install ros packages based on Interbotix rosdeps to speed up build
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
     ros-$ROS_DISTRO-moveit-msgs \
@@ -165,14 +165,16 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-joint-state-publisher-gui \
     ros-$ROS_DISTRO-topic-based-ros2-control \
     && sudo rm -rf /var/lib/apt/lists/*
-COPY script/xsarm_amd64_install.sh /home/user
+COPY --chown=$USERNAME:$USERNAME \
+     script/xsarm_amd64_install.sh /home/$USERNAME
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     bash -ie ~/xsarm_amd64_install.sh -d humble -n \
     && sudo rm -rf /var/lib/apt/lists/* \
     && rm -rf $HOME/.ros/rosdep/sources.cache
 COPY udev_rules/99-interbotix-udev.rules /etc/udev/rules.d/
 
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/cartographer_ws/docker/Dockerfile b/cartographer_ws/docker/Dockerfile
@@ -116,7 +116,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -137,7 +137,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rqt-robot-steering \
     && sudo rm -rf /var/lib/apt/lists/*
 
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_ws/docker/Dockerfile
@@ -116,7 +116,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -130,7 +130,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # TODO: Add more commands here
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/husky_ws/docker/Dockerfile b/husky_ws/docker/Dockerfile
@@ -116,7 +116,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -157,25 +157,29 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-imu-tools \
     ros-$ROS_DISTRO-teleop-twist-keyboard \
     && sudo rm -rf /var/lib/apt/lists/*
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 
 # Setup husky controller by the script.
 # Build certain packages from source for arm64.
-COPY script /home/$USERNAME/script
+COPY --chown=$USERNAME:$USERNAME \
+    script /home/$USERNAME/script
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update \
     && bash -ie /home/$USERNAME/script/install-clearpath-robot.sh \
     && sudo rm -rf /var/lib/apt/lists/*
 # Note: The script need to be run as user, not root.
 # Reference: https://github.com/clearpathrobotics/clearpath_computer_installer/tree/main
-COPY clearpath_computer_installer /home/$USERNAME/clearpath_computer_installer
+COPY --chown=$USERNAME:$USERNAME \
+    clearpath_computer_installer /home/$USERNAME/clearpath_computer_installer
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update \
     && bash -ie /home/$USERNAME/clearpath_computer_installer/clearpath_computer_installer.sh \
     && sudo rm -rf /var/lib/apt/lists/*
 # Setup udev rules.
-COPY udev_rules /home/$USERNAME/udev_rules
+COPY --chown=$USERNAME:$USERNAME \
+    udev_rules /home/$USERNAME/udev_rules
 RUN /home/$USERNAME/udev_rules/install_udev_rules.sh
 # Generate robot configuration files.
 RUN bash -ie /home/$USERNAME/script/husky-generate.sh

diff --git a/kobuki_ws/docker/Dockerfile b/kobuki_ws/docker/Dockerfile
@@ -116,7 +116,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -166,15 +166,18 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-slam-toolbox \
     ros-$ROS_DISTRO-robot-localization \
     && sudo rm -rf /var/lib/apt/lists/*
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 
 # Setup udev rules for Kobuki.
-COPY udev_rules /home/$USERNAME/udev_rules
+COPY --chown=$USERNAME:$USERNAME \
+    udev_rules /home/$USERNAME/udev_rules
 RUN /home/$USERNAME/udev_rules/install_udev_rules.sh
 
 # Build the kobuki driver workspace
-COPY --chown=$USER_UID kobuki_driver_ws /home/$USERNAME/kobuki_driver_ws
+COPY --chown=$USERNAME:$USERNAME \
+    kobuki_driver_ws /home/$USERNAME/kobuki_driver_ws
 RUN cd /home/$USERNAME/kobuki_driver_ws \
     && rm -rf COLCON_IGNORE \
     && /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --symlink-install"

diff --git a/orbslam3_ws/docker/Dockerfile b/orbslam3_ws/docker/Dockerfile
@@ -116,7 +116,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -194,7 +194,8 @@ RUN rosdep update && \
     . /opt/ros/humble/setup.sh && \
     colcon build --symlink-install --packages-select orbslam3
 
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/ros1_bridge_ws/docker/Dockerfile b/ros1_bridge_ws/docker/Dockerfile
@@ -40,7 +40,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 ################################################################################################
 # - Build stage
 #   - In this stage, I will build ROS Humble and ros1-bridge from source.
-#   - Reference: 
+#   - Reference:
 #     - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html
 #     - https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
 ################################################################################################
@@ -126,7 +126,7 @@ RUN colcon build
 # Delete packages.ros.org from sources.list and remove conflicts packages manually.
 # Removing those conflicts packages is necessary for install ros-core-dev.
 # Here is the dicussion about this issue: https://github.com/j3soon/ros2-essentials/pull/9#discussion_r1375303858
-# Reference: 
+# Reference:
 # - https://docs.ros.org/en/humble/How-To-Guides/Using-ros1_bridge-Jammy-upstream.html#ros-2-via-debian-packages
 # - https://github.com/osrf/docker_images/issues/635#issuecomment-1217505552
 RUN rm -rf /etc/apt/sources.list.d/ros2.list \
@@ -149,7 +149,8 @@ RUN source install/setup.bash \
 
 # Other configurations
 USER $USERNAME
-COPY ./start-bridge.sh /start-bridge.sh 
+COPY --chown=$USERNAME:$USERNAME \
+    ./start-bridge.sh /start-bridge.sh
 ENTRYPOINT []
 CMD ["/bin/bash"]
 
@@ -169,7 +170,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     tzdata \
     && rm -rf /var/lib/apt/lists/*
 
-# Install ROS core and packages with their dependencies. 
+# Install ROS core and packages with their dependencies.
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     apt-get update && apt-get install -y \
     ros-core-dev \
@@ -182,6 +183,7 @@ COPY --from=build /ros2_humble/install /ros2_humble/install
 
 # Other configurations
 USER $USERNAME
-COPY ./start-bridge.sh /start-bridge.sh 
+COPY --chown=$USERNAME:$USERNAME \
+    ./start-bridge.sh /start-bridge.sh
 ENTRYPOINT []
 CMD ["./start-bridge.sh"]
diff --git a/rtabmap_ws/docker/Dockerfile b/rtabmap_ws/docker/Dockerfile
@@ -119,7 +119,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -142,7 +142,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-rtabmap-ros \
     && sudo rm -rf /var/lib/apt/lists/*
 
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/template_ws/docker/Dockerfile b/template_ws/docker/Dockerfile
@@ -114,7 +114,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -128,7 +128,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     && sudo rm -rf /var/lib/apt/lists/*
 
 # TODO: Add more commands here
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]
diff --git a/tests/diff_base/docker/Dockerfile b/tests/diff_base/docker/Dockerfile
@@ -114,7 +114,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -129,7 +129,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 
 # TODO: Add more commands here
 {PLACEHOLDER_MULTILINE}
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 {PLACEHOLDER_MULTILINE}
 ENTRYPOINT []

diff --git a/vlp_ws/docker/Dockerfile b/vlp_ws/docker/Dockerfile
@@ -116,7 +116,7 @@ RUN mkdir /home/$USERNAME/.gazebo
 # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
 # TODO: Remove the note above when it is no longer experimental
 # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/user/.cache/pip,sharing=private \
+RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
     if [ "$TARGETARCH" = "amd64" ]; then \
         python3 -V | grep "Python 3.10" \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
@@ -149,7 +149,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     ros-$ROS_DISTRO-velodyne \
     && sudo rm -rf /var/lib/apt/lists/*
 
-COPY .bashrc /home/$USERNAME/.bashrc
+COPY --chown=$USERNAME:$USERNAME \
+     .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []
 CMD ["/bin/bash"]