devenv.Dockerfile

ARG ROS_DISTRO
FROM osrf/ros:${ROS_DISTRO}-desktop-full

ARG EXT_SHELL
RUN echo "Building devenv for ROS" $ROS_DISTRO "with shell" $EXT_SHELL

# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive

# Import the key in order to be able to use the packages from the repository
# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
# NOV - 2023
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA

# Setup environment
RUN apt-get update && apt-get install -y apt-utils

RUN apt-get install -y \
    locales \
    && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8

# Configure apt and install ubuntu-base packages
RUN apt-get update && \
    apt-get -y install --no-install-recommends \
    apt-transport-https \
    ca-certificates \
    curl \
    dbus-x11 \
    gnupg-agent \
    software-properties-common \
    dialog 2>&1 \
    checkinstall \
    # clang
    clang-format clang-tidy clang-tools clang \
    libc++-dev libc++1 libc++abi-dev \
    libc++abi1 libclang-dev libclang1  \
    libomp-dev libomp5 lld lldb \
    llvm-dev llvm-runtime llvm \
    # ccmake
    cmake-curses-gui \
    direnv \
    gawk \
    gdb \
    git \
    git-lfs \
    less \
    nano \
    net-tools \
    openssh-client \
    trash-cli \
    valgrind \
    wget \
    xterm

# Install pip3 and packages
RUN apt-get install -y \
    python3-pip \
    && pip3 install sqlite_utils \
    && pip3 install transforms3d

RUN if [ "$ROS_DISTRO" = "noetic" ]; \
    then \
        pip3 install conan==1.59 \
        && conan config set general.revisions_enabled=1 \
        && conan profile new default --detect > /dev/null \
        && conan profile update settings.compiler=gcc default; \
    fi

# Install zsh if requested
RUN if [ "$EXT_SHELL" = "zsh" ]; \
    then \
        apt-get -y install zsh; \
    fi

# Configure system to look for debian packages in the Artifactory repository
COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

# Configure rosdep
RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
    >> /etc/ros/rosdep/sources.list.d/20-default.list"

# Install docker-ce
# RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
# RUN add-apt-repository \
#     "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
# RUN apt-get update && apt-get -y install \
#     docker-ce \
#     docker-ce-cli \
#     containerd.io \
#     docker-compose-plugin

# Copy the requirements.txt file into the container
WORKDIR /tmp/dependencies/
COPY /ws_dependencies/* ./

# Install the packages listed in ${ROS_DISTRO}_requirements.txt
RUN if [ -f "${ROS_DISTRO}_requirements.txt" ]; \
    then \
        # apt-get update && \
        # grep -v '^#' ${ROS_DISTRO}_requirements.txt | xargs apt-get install -y && \
        # apt-get clean;\
        apt-get update && \
        awk '/^# APT-GET PACKAGES/,/^# PIP PACKAGES/' ${ROS_DISTRO}_requirements.txt | grep -v '^#' | xargs apt-get install -y && \
        apt-get clean; \
    fi

# Install pip packages
RUN if [ -f "${ROS_DISTRO}_requirements.txt" ]; \
    then \
        awk '/^# PIP PACKAGES/,0' ${ROS_DISTRO}_requirements.txt | grep -v '^#' | xargs -r -n1 pip install ;\
    fi

RUN rm -rf *

# Install extra libs from .deb files
WORKDIR /tmp/srcs/
COPY /extra_libs/* ./

# Enviroment tools based on ubuntu version
RUN if [ -f "common_libs.txt" ]; \
    then \
        grep -v '^#' common_libs.txt | xargs wget \
        && dpkg -i *.deb; \
    fi

# Workaround for Azure Kinect
RUN if [ "$ROS_DISTRO" = "noetic" ]; \
    then \
        echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections \
        && echo 'libk4abt1.0	libk4abt1.0/accepted-eula-hash	string	03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections \
        && wget https://raw.githubusercontent.com/microsoft/Azure-Kinect-Sensor-SDK/develop/scripts/99-k4a.rules \
        && mkdir -p udev/rules.d \
        && mv 99-k4a.rules udev/rules.d/ \
        && cp --parents udev/rules.d/99-k4a.rules /etc; \
    fi

# Extra libs, e.g. vtk-7.1_20221201-1_amd64.deb
RUN if [ -f "${ROS_DISTRO}_libs.txt" ]; \
    then \
        grep -v '^#' ${ROS_DISTRO}_libs.txt | xargs wget \
        && dpkg -i *.deb;\
    fi

RUN rm -rf *
RUN apt-get --reinstall install -y libnotify-bin notify-osd

# Update this date to re-run the image final update
LABEL image.date=04-01-2024

# Update final image
RUN apt-get update \
    && apt-get -y upgrade \
    && apt-get -y autoremove \
    && apt-get -y autoclean

# Set entrypoint
COPY ./ros_entrypoint.sh /
RUN chmod a+x /ros_entrypoint.sh

ENV ROS_DISTRO "${ROS_DISTRO}"

ENV EXT_SHELL "${EXT_SHELL}"
ENV RUNNING_IN_DOCKER true

# Switch back to dialog for any ad-hoc use of apt-get
ENV DEBIAN_FRONTEND=

ARG SHELL
ENV SHELL "${SHELL}"

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD $EXT_SHELL