| ARG RELEASE |
| ARG LAUNCHPAD_BUILD_ARCH |
| LABEL org.opencontainers.image.version=22.04 |
| ADD file:da2cd86408d9354e8bd817c8a4b8635a1d788cd20d0d70061ce02a173e8cf902 in / |
| CMD ["/bin/bash"] |
| ENV DEBIAN_FRONTEND=noninteractive |
| ENV ROS_PYTHON_VERSION=3 |
| SHELL [/bin/bash -c] |
| /bin/bash -c apt-get update -q && DEBIAN_FRONTEND=noninteractive apt-get install -y apt-utils dialog tzdata curl gnupg2 lsb-release locales ca-certificates sudo wget git vim tmux less build-essential cmake g++ python3 python3-pip && locale-gen en_US.UTF-8 |
| ENV LANG=en_US.UTF-8 |
| ENV LC_ALL=en_US.UTF-8 |
| /bin/bash -c useradd -m -s /bin/bash kbkn && echo "kbkn ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers |
| /bin/bash -c curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2.list |
| /bin/bash -c apt-get update -q && DEBIAN_FRONTEND=noninteractive apt-get install -y ros-humble-ros-base ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-gazebo-* ros-humble-rviz2 ros-humble-cartographer ros-humble-cartographer-ros ros-humble-image-transport ros-humble-image-transport-plugins ros-humble-cv-bridge ros-humble-vision-opencv ros-humble-image-pipeline ros-humble-rqt-image-view python3-rosdep python3-opencv libopencv-dev openbox tint2 x11-xserver-utils terminator x11vnc xterm xvfb supervisor net-tools openssh-server mesa-utils libgl1 libgl1-mesa-dri python-is-python3 && rosdep init && apt-get autoclean && apt-get autoremove && rm -rf /var/lib/apt/lists/* |
| /bin/bash -c python3 -m pip install --upgrade pip --no-cache-dir colcon-common-extensions vcstool |
| /bin/bash -c mkdir -p /opt/novnc/utils/websockify && curl -L https://github.com/novnc/noVNC/archive/v1.7.0.tar.gz | tar xz -C /opt/novnc --strip-components=1 && curl -L https://github.com/novnc/websockify/archive/v0.13.0.tar.gz | tar xz -C /opt/novnc/utils/websockify --strip-components=1 && ln -s /opt/novnc/vnc.html /opt/novnc/index.html |
| /bin/bash -c sed -i "s/UI.initSetting('resize', 'off');/UI.initSetting('resize', 'remote');/g" /opt/novnc/app/ui.js |
| /bin/bash -c mkdir -p /etc/supervisor/conf.d && mkdir -p /home/kbkn/scripts && mkdir -p /home/kbkn/.config/openbox |
| COPY file:edb5ca34a0f6e9f8323ee84c4fcf2c3affe4008dc5580cfadee42891b64818ca in /etc/supervisor/conf.d/supervisord.conf |
| COPY file:3251e72cf5215cfb6ac0fe3a8b97353377139750e2a0a4083fab5ff89a6e4e45 in /entrypoint.sh |
| /bin/bash -c chmod 755 /entrypoint.sh && mkdir -p /var/log/supervisor && chown -R kbkn:kbkn /var/log/supervisor && chown -R kbkn:kbkn /home/kbkn && chmod -R +x /home/kbkn/scripts |
| /bin/bash -c mkdir /var/run/sshd && echo 'kbkn:kobaken' | chpasswd && sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd |
| USER kbkn |
| WORKDIR /home/kbkn |
| /bin/bash -c mkdir -p /home/kbkn/ros2_ws/src && echo "[ -f ~/ros2_ws/install/setup.bash ] && source ~/ros2_ws/install/setup.bash" >> ~/.bashrc && echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc && echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc && echo "alias cm='cd ~/ros2_ws;colcon build --symlink-install;source ~/ros2_ws/install/setup.bash'" >> ~/.bashrc && echo "alias cs='cd ~/ros2_ws/src'" >> ~/.bashrc |
| /bin/bash -c cd /home/kbkn/ros2_ws/src && git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git && git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git && git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git && git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git && git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_autorace.git |
| USER root |
| /bin/bash -c chown -R kbkn:kbkn /home/kbkn && chown -R kbkn:kbkn /home/kbkn/ros2_ws/src && /bin/bash -c "source /opt/ros/humble/setup.bash && apt-get update && rosdep update && cd /home/kbkn/ros2_ws && rosdep install --from-paths src --ignore-src -r -y" |
| USER kbkn |
| WORKDIR /home/kbkn |
| /bin/bash -c /bin/bash -c "source /opt/ros/humble/setup.bash && cd /home/kbkn/ros2_ws && colcon build --symlink-install" |
| EXPOSE 6080 |
| ENTRYPOINT ["/bin/bash" "/entrypoint.sh"] |
