Dockerfile_noetic_cuda

# from https://hub.docker.com/r/nvidia/cuda/tags?page=1&name=ubuntu20
FROM nvidia/cuda:11.6.1-devel-ubuntu20.04   

# 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}

################################
ENV ROS_DISTRO=noetic

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

RUN apt-get -y update &&DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata apt-utils keyboard-configuration
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
RUN apt-get -y update && apt-get -y dist-upgrade 

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

# add the ROS deb repo to the apt sources list
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
		curl \
		wget \
		gnupg2 \
		lsb-release \
		ca-certificates \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" | tee /etc/apt/sources.list.d/ros-focal.list'
RUN apt-get -y install curl 
RUN sh -c 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -'

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

# Basic Utilities 
RUN apt-get -y update && apt-get install -y screen tree sudo ssh synaptic aptitude gedit geany

# Latest X11 / mesa GL
RUN apt-get install -y mesa-utils 

# Dependencies required to build rviz
RUN apt-get install -y libqt5core5a libqt5dbus5 libqt5gui5 

# ROS-desktop
RUN apt-get install -y ros-noetic-desktop-full

# Additional development tools
RUN apt-get install -y build-essential git

# Python 
RUN apt-get install -y python3-pip
RUN apt-get install -y python-is-python3 
RUN pip3 install -U catkin_tools

# ROS deps
RUN apt-get install -y \
#python-rosinstall \
#python-jinja2 \
doxygen \
libssh2-1-dev \
libudev-dev 

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

SHELL ["/bin/bash", "-c"]
RUN source /opt/ros/noetic/setup.bash

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

# from  http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration  (with nvidia-docker2)
# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# 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}"

#RUN echo "${user} ALL=(ALL:ALL) NOPASSWD:ALL" >> /etc/sudoers 
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

RUN echo "${user}:docker" | chpasswd 
# this allows to switch to user with $ su -
RUN echo "root:docker" | chpasswd  

# 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_add ${home}/bashrc_add
RUN cat ${home}/bashrc_add >> "${home}/.bashrc"