Dockerfile_tradr

FROM ros:indigo

# Arguments
ARG user
ARG uid
ARG home
ARG workspace
ARG shell
ARG nvidia_driver_version
ARG container_name
ARG timezone=Etc/UTC

LABEL maintainer="luigifreda@gmail.com"

ENV TZ=${timezone}

################################

# Basic Utilities
RUN apt-get -y update && apt-get install -y zsh screen tree sudo ssh synaptic \
aptitude gedit geany \
x11-xserver-utils psmisc

# Latest X11 / mesa GL
RUN apt-get install -y\
  xserver-xorg-dev-lts-wily\
  libegl1-mesa-dev-lts-wily\
  libgl1-mesa-dev-lts-wily\
  libgbm-dev-lts-wily\
  mesa-common-dev-lts-wily\
  libgles2-mesa-lts-wily\
  libwayland-egl1-mesa-lts-wily\
  libopenvg1-mesa\
  mesa-utils

# Dependencies required to build rviz
RUN apt-get install -y\
  qt4-dev-tools\
  libqt5core5a libqt5dbus5 libqt5gui5 libwayland-client0\
  libwayland-server0 libxcb-icccm4 libxcb-image0 libxcb-keysyms1\
  libxcb-render-util0 libxcb-util0 libxcb-xkb1 libxkbcommon-x11-0\
  libxkbcommon0

# The rest of ROS-desktop
RUN apt-get install -y ros-indigo-desktop-full

# Additional development tools
RUN apt-get install -y x11-apps python-pip build-essential
RUN pip install -U catkin_tools

# TRADR deps
RUN apt-get install -y \
python-rosinstall \
ros-indigo-octomap-ros ros-indigo-octomap-mapping \
ros-indigo-joy \
ros-indigo-sound-play  ros-indigo-camera-info-manager-py \
ros-indigo-camera-info-manager \
ros-indigo-tf2-geometry-msgs ros-indigo-tf2 \
ros-indigo-imu-transformer \
ros-indigo-laser-assembler \
ros-indigo-move-base-msgs ros-indigo-move-base \
ros-indigo-moveit-ros ros-indigo-openni2-* \
ros-indigo-mapviz-plugins \
ros-indigo-imu-transformer \
openjdk-7-jdk \ 
python-jinja2 \
doxygen \
libssh2-1-dev \
libudev-dev \
libvlc-dev libvlccore-dev

# nvidia-docker hooks
LABEL com.nvidia.volumes.needed="nvidia_driver"
#ENV PATH=/usr/local/nvidia/bin:${PATH}
#ENV LD_LIBRARY_PATH=/usr/local/nvidia/lib:/usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
ENV PATH /usr/lib/nvidia-${nvidia_driver_version}/bin:${PATH}
ENV LD_LIBRARY_PATH /usr/lib/nvidia-${nvidia_driver_version}:${LD_LIBRARY_PATH}

# Make SSH available
EXPOSE 22

# Mount the user's home directory
VOLUME "${home}"

RUN useradd ${user} -m -s ${shell} -u ${uid} -G sudo,dialout

# Clone user into docker image and set up X11 sharing 
RUN \
  echo "${user}:x:${uid}:${uid}:${user},,,:${home}:${shell}" >> /etc/passwd && \
  echo "${user}:x:${uid}:" >> /etc/group && \
  echo "${user} ALL=(ALL) NOPASSWD: ALL" > "/etc/sudoers.d/${user}" && \
  chmod 0440 "/etc/sudoers.d/${user}"

# Switch to user
USER "${user}"
# This is required for sharing Xauthority
ENV QT_X11_NO_MITSHM=1


ENV CONTAINER_NAME="${container_name}"

# Switch to the workspace
WORKDIR ${workspace}

COPY ./bashrc_tradr_add ${home}/bashrc_add
RUN cat ${home}/bashrc_add >> "${home}/.bashrc"