Dockerfile.base

ARG BASE_IMAGE=osrf/ros:humble-desktop
FROM $BASE_IMAGE

ARG DEBIAN_FRONTEND=noninteractive
ARG UID=1000

# User
RUN useradd -d /memristor -m \
    -u $UID -U \
    -s /usr/bin/bash \
    -G dialout \
    -c "Memristor Robotics" memristor && \
    echo "memristor ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers

# Essentials
RUN apt-get update && apt-get install --no-install-recommends -y -o Dpkg::Options::="--force-overwrite" \
    ros-humble-navigation2 \
    ros-humble-nav2-bringup \
    ros-humble-rviz2 \
    ros-humble-teleop-twist-keyboard \
    ros-humble-dynamixel-sdk \
    ros-humble-can-msgs \
    ros-humble-ruckig \
    ros-humble-laser-filters \
    ros-humble-domain-bridge \
    ros-humble-rmw-cyclonedds-cpp \
    ros-humble-ros2-control \
    ros-humble-ros2-controllers \
    ros-humble-rqt-common-plugins \
    ros-humble-webots-ros2 \
    ros-humble-dynamixel-workbench-toolbox \
    ros-humble-behaviortree-cpp \
    libopencv-dev \
    python3-pip \
    python3-pil \
    alsa \
    libxshmfence1 \
    libgtk-3-dev \
    git \
    git-lfs \
    curl \
    wget \
    vim \
    rsync \
    dialog \
    fuse

# Webots
RUN curl -L -o /tmp/webots.deb \
    'https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb' && \
    apt-get install -y /tmp/webots.deb && \
    rm -f /tmp/webots.deb && \
    mkdir -p /memristor/.config/Cyberbotics

# Groot
RUN curl -L -o /opt/Groot2.AppImge \
    'https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-x86_64.AppImage' && \
    chmod +x /opt/Groot2.AppImge && \
    ln -sf /opt/Groot2.AppImge /usr/bin/groot2

RUN python3 -m pip install scipy transforms3d

# HOTFIX: https://github.com/ros-controls/ros2_controllers/issues/482
RUN wget -O /tmp/diff_drive_controller.deb http://snapshots.ros.org/humble/2022-11-23/ubuntu/pool/main/r/ros-humble-diff-drive-controller/ros-humble-diff-drive-controller_2.12.0-1jammy.20221108.202153_amd64.deb && \
    apt install -y --allow-downgrades /tmp/diff_drive_controller.deb && \
    rm -f /tmp/diff_drive_controller.deb

# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
RUN wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
    apt install -y --allow-downgrades /tmp/hotfix.deb && \
    rm -f /tmp/hotfix.deb

# User config
COPY ./config/bashrc /tmp/bashrc
COPY ./config/Cyberobotics/. /memristor/.config/Cyberbotics/
COPY --chmod=755 ./config/setup.sh /usr/bin/

RUN cat /tmp/bashrc >> /memristor/.bashrc && \
    rm -f /tmp/bashrc && \
    mkdir -p /memristor/ros2_ws/src/mep3 && \
    chown -R memristor:memristor /memristor

USER memristor
WORKDIR /memristor/ros2_ws

EXPOSE 31415