devenv.Dockerfile

ARG ROS_DISTRO

FROM osrf/ros:${ROS_DISTRO}-desktop-full
RUN echo "Building devenv for ROS" $ROS_DISTRO

# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive

# 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 \
    gdb \
    git \
    git-lfs \
    less \
    nano \
    net-tools \
    openssh-client \
    trash-cli \
    valgrind \
    xterm \
    wget \
    zsh

# ZSH tools based on ubuntu version
WORKDIR /tmp/srcs/
COPY /extra_libs/* ./

RUN if [ "${ROS_DISTRO}" = "melodic"  ]; \
    then \
        dpkg -i *.deb; \
    else \
        dpkg -i bat*.deb; \
        dpkg -i lsd*.deb; \
        dpkg -i ripgrep*.deb; \
    fi

RUN rm -rf *

RUN apt-get --reinstall install -y libnotify-bin notify-osd

# Configure system to look for debian packages in the Artifactory repository
COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf

# 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
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

# Install python - python3 packages based on ubuntu version
RUN if [ "${ROS_DISTRO}" = "melodic"  ]; \
    then \
        apt-get update && \
        apt-get -y install \
        ipython \
        python-catkin-tools \
        python-pip \
        python-osrf-pycommon\
        python-vcstool; \
    else\
        apt-get update && \
        apt-get -y install \
        ipython3 \
        python-is-python3 \
        python3-click \
        python3-numpy \
        python3-osrf-pycommon \
        python3-vcstool \
        python3-pip \
        # clang
        clangd liblldb-dev libllvm-ocaml-dev python3-clang; \
    fi

# Install ROS 1 tools
RUN if [ "${ROS_DISTRO}" != "humble"  ]; \
    then \
        apt-get update && \
        apt-get -y install \
        ros-${ROS_DISTRO}-catkin \
        ros-${ROS_DISTRO}-plotjuggler \
        ros-${ROS_DISTRO}-plotjuggler-ros \
        ros-${ROS_DISTRO}-rosmon \
        ros-${ROS_DISTRO}-rqt-controller-manager \
        ros-${ROS_DISTRO}-rqt-joint-trajectory-controller; \
    fi

# 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 && \
        apt-get install -y $(cat ${ROS_DISTRO}_requirements.txt);\
    fi

RUN rm -rf *

# Update this date to re-run the image final update
LABEL image.date=17-10-2023

# 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

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["zsh"]
ENV ROS_DISTRO "${ROS_DISTRO}"
ENV SHELL /usr/bin/zsh
ENV RUNNING_IN_DOCKER true

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