spiri-sdk/Dockerfile

FROM nestybox/ubuntu-focal-systemd

ENV ROS_DISTRO noetic
ENV DEBIAN_FRONTEND noninteractive

RUN apt-get update
RUN apt-get install curl gnupg2 software-properties-common -y

RUN sh -c 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -'
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN sh -c 'curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -'
RUN sh -c 'add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu focal stable"'
# RUN add-apt-repository ppa:flatpak/stable

#Make sure we're running latest gazebo11, since px4io/px4-dev-ros-noetic does.
RUN sh -c "curl -sSL http://get.gazebosim.org | sh"

RUN apt-get update
RUN apt-get install ros-$ROS_DISTRO-ros-core -y
RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin -y
RUN apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control gazebo11 -y
RUN apt-get install ros-$ROS_DISTRO-mavros -y
RUN apt-get install lxqt-core dbus-x11 udisks2- gvfs-daemons- gvfs-backends- gvfs-fuse- -y  #A few things related to FUSE need to be explicityly not installed
RUN apt-get install vim nano htop git mesa-utils rsync iputils-ping -y
RUN apt-get install firefox -y

RUN apt-get remove gnome-shell -y
RUN apt-get autoremove -y

RUN wget https://github.com/kasmtech/KasmVNC/releases/download/v1.2.0/kasmvncserver_focal_1.2.0_amd64.deb
RUN apt-get install ./kasmvncserver_focal_1.2.0_amd64.deb --yes
RUN rm ./kasmvncserver_focal_1.2.0_amd64.deb

COPY ./kasmvnc.yaml /etc/kasmvnc/kasmvnc.yaml
COPY ./userhome.service /etc/systemd/system/
RUN systemctl enable userhome
COPY ./kasmvnc.service /etc/systemd/system/
RUN systemctl enable kasmvnc

#Custom user skel overrides. We're not going to be too worried about permissions for this one.
COPY ./skel /etc/skel/

#Delete default user and replace it with our own
RUN userdel -r admin

ARG USERNAME=spiri
ARG USER_UID=1000
ARG USER_GID=$USER_UID

RUN groupadd --gid $USER_GID $USERNAME
RUN useradd --uid $USER_UID --gid $USER_GID --create-home --shell /bin/bash $USERNAME
RUN usermod -aG sudo,ssl-cert,docker $USERNAME
RUN echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME
RUN chmod 0440 /etc/sudoers.d/$USERNAME
RUN echo "${USERNAME}:spiri-friend" | chpasswd

COPY --chown=$USER_UID:$USER_GID --chmod=0755 ./xstartup /opt/xstartup

COPY ./background.png /opt/spiri-wallpaper.png
run sed -i 's|/usr/share/lxqt/themes/debian/wallpaper.svg|/opt/spiri-wallpaper.png|' /etc/xdg/pcmanfm-qt/lxqt/settings.conf
#Remove transparency it can make lead to compression artifacts
run sed -i 's|TerminalTransparency=10|/TerminalTransparency=0|' /etc/xdg/qterminal.org/qterminal.ini

#Copy in our custom gazebo resources
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /usr/share/gazebo-11/models/
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /worlds /usr/share/gazebo-11/worlds/
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins /usr/lib/x86_64-linux-gnu/gazebo-11/plugins

VOLUME /home/spiri/

# # #Install nix, for easy mixin packages. Homebrew would also work...
# RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
# COPY ./nix.conf /etc/nix/nix.conf
# # # RUN nix flake init
# USER 0