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carla9 (sha256:3e5bedacc8f4ab9edff95d53a18a55af9ceb2dfc9deec0735fa5884d66c27342)

Published 2026-05-11 18:05:16 +09:00 by ikko

Installation

Pull the image from the command line:

docker pull forgejo.ikko-lab.k.hosei.ac.jp/ikko/carla9@sha256:3e5bedacc8f4ab9edff95d53a18a55af9ceb2dfc9deec0735fa5884d66c27342

Digest

sha256:3e5bedacc8f4ab9edff95d53a18a55af9ceb2dfc9deec0735fa5884d66c27342

For more information on the Container registry, see the documentation.

Image layers

ARG RELEASE

ARG LAUNCHPAD_BUILD_ARCH

LABEL org.opencontainers.image.version=24.04

ADD file:8ce1caf246e7c778bca84c516d02fd4e83766bb2c530a0fffa8a351b560a2728 in /

CMD ["/bin/bash"]

LABEL maintainer=ikko@hosei.ac.jp

ENV DEBIAN_FRONTEND=noninteractive

ENV PIP_BREAK_SYSTEM_PACKAGES=1

ENV LANG=en_US.UTF-8

ENV LC_ALL=en_US.UTF-8

SHELL [/bin/bash -c]

RUN /bin/bash -c apt-get update -q && apt-get install -y --no-install-recommends curl ca-certificates gnupg2 lsb-release locales software-properties-common && locale-gen en_US.UTF-8 && mkdir -p /etc/apt/sources.list.d /usr/share/keyrings && curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" > /etc/apt/sources.list.d/ros2.list && rm -rf /var/lib/apt/lists/* # buildkit

RUN /bin/bash -c apt-get update -q && add-apt-repository -y ppa:kisak/kisak-mesa && apt-get update -q && apt-get install -y --no-install-recommends sudo wget git vim tmux less build-essential python3 python3-pip python3-dev python-is-python3 python3-setuptools python3-numpy libgl1 libglib2.0-0 mesa-utils mesa-vulkan-drivers vulkan-tools xauth x11-apps x11-xserver-utils openbox dbus dbus-x11 terminator x11vnc unzip net-tools supervisor ros-jazzy-desktop ros-jazzy-ros-environment ros-jazzy-ament-cmake ros-jazzy-ros-gz ros-jazzy-gz-ros2-control ros-jazzy-gz-ros2-control-demos python3-rosdep python3-colcon-common-extensions xserver-xorg-video-dummy libgl1-mesa-dri gosu fastdds-tools openssh-server && mkdir -p /run/sshd && chmod 755 /run/sshd && ssh-keygen -A && rm -rf /var/lib/apt/lists/* # buildkit

COPY ./xorg.conf /etc/X11/xorg.conf # buildkit

ARG USERNAME=kbkn

ARG USERPASS=kobaken

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c groupadd -g 1001 $USERNAME && useradd -m -u 1001 -g 1001 -s /bin/bash $USERNAME && echo "$USERNAME:$USERPASS" | chpasswd && usermod -aG sudo,video,audio $USERNAME && echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME # buildkit

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c wget -q https://tiny.carla.org/carla-0-9-16-linux -O carla.tar.gz && mkdir /opt/carla && tar zxf carla.tar.gz -C /opt/carla && rm carla.tar.gz # buildkit

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c python3 -m pip install --break-system-packages --no-cache-dir colcon-common-extensions empy pyros-genmsg setuptools shapely networkx /opt/carla/PythonAPI/carla/dist/carla-0.9.16-cp312-cp312-manylinux_2_31_x86_64.whl -r /opt/carla/PythonAPI/util/requirements.txt -r /opt/carla/PythonAPI/carla/requirements.txt # buildkit

ENV PYTHONPATH=/opt/carla/PythonAPI/carla

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c mkdir -p /opt/novnc/utils/websockify && curl -L https://github.com/novnc/noVNC/archive/refs/tags/v1.4.0-beta.tar.gz | tar xz -C /opt/novnc --strip-components=1 && curl -L https://github.com/novnc/websockify/archive/refs/tags/v0.11.0.tar.gz | tar xz -C /opt/novnc/utils/websockify --strip-components=1 && cp /opt/novnc/vnc.html /opt/novnc/index.html # buildkit

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c sed -i "s/UI.initSetting('resize', 'off');/UI.initSetting('resize', 'remote');/g" /opt/novnc/app/ui.js # buildkit

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c rosdep init || true && rosdep update # buildkit

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c mkdir -p /home/$USERNAME/colcon_ws/src /home/$USERNAME/.cache && chown -R $USERNAME:$USERNAME /home/$USERNAME && echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc && echo "alias m='cd /home/kbkn/Desktop/scripts'" >> /home/$USERNAME/.bashrc && chown $USERNAME:$USERNAME /home/$USERNAME/.bashrc # buildkit

EXPOSE [2000/tcp 2001/tcp 2002/tcp 5900/tcp 6080/tcp]

COPY entrypoint.sh /entrypoint.sh # buildkit

RUN |2 USERNAME=kbkn USERPASS=kobaken /bin/bash -c chmod +x /entrypoint.sh # buildkit

CMD ["/entrypoint.sh"]

Labels

Key	Value
maintainer	ikko@hosei.ac.jp
org.opencontainers.image.version	24.04

Details

Container

2026-05-11 18:05:16 +09:00

1

OCI / Docker

linux/amd64

9.4 GiB

Versions (2) View all

latest 2026-05-11

buildcache 2026-05-09