Dockerfile.Webots

FROM cyberbotics/webots:R2021a-ubuntu20.04

LABEL maintainer="Emiliano Borghi"

ENV USER=create2
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display

# install packages
RUN apt-get update && apt-get -q -y install --no-install-recommends \
    bash-completion \
    dirmngr \
    gnupg2 \
    lsb-release \
    python3-pip \
    sudo \
    tmux \
    && rm -rf /var/lib/apt/lists/*

# Create a user with passwordless sudo
USER root
RUN adduser --gecos "Development User" --disabled-password -u 1000 $USER
RUN adduser $USER sudo
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

# https://cyberbotics.com/doc/guide/running-extern-robot-controllers#running-extern-robot-controllers
ENV PYTHONPATH=${PYTHONPATH}:${WEBOTS_HOME}/lib/controller/python3
ENV LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${WEBOTS_HOME}/lib/controller

# Audio support
RUN usermod -aG audio $USER
RUN apt-get update && apt-get install -y alsa-utils

# ROS 2 Foxy

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# setup sources.list
RUN echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

RUN apt-get update && apt-get install -y \
    ros-foxy-ros-base \
    ros-foxy-webots-ros2

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential \
    git \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# install python packages
RUN pip3 install -U \
    argcomplete \
    flake8 \
    flake8-blind-except \
    flake8-builtins \
    flake8-class-newline \
    flake8-comprehensions \
    flake8-deprecated \
    flake8-docstrings \
    flake8-import-order \
    flake8-quotes \
    pytest-repeat \
    pytest-rerunfailures
# This is a workaround for pytest not found causing builds to fail
# Following RUN statements tests for regression of https://github.com/ros2/ros2/issues/722
RUN pip3 freeze | grep pytest \
    && python3 -m pytest --version

# Permissions to workspace
RUN mkdir -p /colcon_ws
RUN chown -R $USER:$USER /colcon_ws

# Webots config
RUN mkdir -p /home/$USER/.config/Cyberbotics
COPY --chown=$USER:$USER Webots-R2021a.conf /home/$USER/.config/Cyberbotics/Webots-R2021a.conf

# Tmux config
COPY --chown=$USER:$USER .tmux.conf /home/$USER/.tmux.conf

# rosdep
RUN apt-get update
RUN rosdep init

USER $USER
RUN rosdep update

# setup ros2 environment
RUN echo ". /opt/ros/foxy/setup.bash" >> /home/$USER/.bashrc
ENV COLCON_SETUP_BASH "/colcon_ws/install/local_setup.bash"
RUN echo "[[ -f ${COLCON_SETUP_BASH} ]] && . ${COLCON_SETUP_BASH}" >> /home/$USER/.bashrc