Dockerfile.cpu

ARG UBUNTU_VERSION=18.04

FROM ubuntu:${UBUNTU_VERSION} as base

# Pick up some TF dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
        build-essential \
        sudo \
        libfreetype6-dev \
        libhdf5-serial-dev \
        # libpng12-dev \
        libzmq3-dev \
        pkg-config \
        software-properties-common \
        wget \
        git \
        rsync \
        unzip

ARG USE_PYTHON_3_NOT_2=1
ARG _PY_SUFFIX=${USE_PYTHON_3_NOT_2:+3}
ARG PYTHON=python${_PY_SUFFIX}
ARG PIP=pip${_PY_SUFFIX}

# See http://bugs.python.org/issue19846
ENV LANG C.UTF-8

RUN apt-get update && apt-get install -y \
    ${PYTHON} \
    ${PYTHON}-pip

RUN ${PIP} --no-cache-dir install --upgrade \
    pip \
    setuptools

# Some TF tools expect a "python" binary
RUN ln -s $(which ${PYTHON}) /usr/local/bin/python 

# Options:
#   tensorflow
#   tensorflow-gpu
#   tf-nightly
#   tf-nightly-gpu
ARG TF_PACKAGE=tf-nightly
RUN ${PIP} install ${TF_PACKAGE}

RUN ${PIP} install msgpack-rpc-python

COPY bashrc /etc/bash.bashrc
RUN chmod a+rwx /etc/bash.bashrc

ENV DEBIAN_FRONTEND noninteractive
ENV TZ=America/Detroit
RUN apt-get update && apt-get install -y tzdata

# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*

# install packages
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    lsb-release \
    && rm -rf /var/lib/apt/lists/*

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

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

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV ROS_LOG_DIR=/home/sim/.ros

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO melodic
RUN apt-get update && apt-get install -y \
        ros-${ROS_DISTRO}-ros-core && \
        rm -rf /var/lib/apt/lists/*
RUN apt-get update && apt-get install -y \
        ros-${ROS_DISTRO}-pointcloud-to-laserscan
RUN apt-get update && apt-get install -y \
        ros-${ROS_DISTRO}-cv-bridge

RUN ${PIP} install rospkg pyyaml osc4py3
RUN apt-get update && apt-get install -y \
        python3-jinja2 \
        python3-empy \
        && rm -rf /var/lib/apt/lists/*
RUN ${PIP} install numpy toml catkin_pkg \
    dronekit dronekit-sitl

ARG USER_ID=1000
ARG GROUP_ID=1000

RUN groupadd -g ${GROUP_ID} sim && \
    useradd -m -l -u ${USER_ID} -g sim sim && \
    echo "sim:sim" | chpasswd && adduser sim sudo && \
    echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

ENV HOME /home/sim
ENV SIM_ROOT=$HOME

USER sim
WORKDIR $HOME

ENTRYPOINT ["./ros_entrypoint.sh"]

CMD ["bash"]