Dockerfile

# Adapted from  Allison Thackston (https://github.com/athackst/dockerfiles/blob/main/ros2/humble.Dockerfile)

FROM ubuntu:jammy-20231211.1

# Disable terminal interactivity
ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y \
    locales \
    && locale-gen en_US.UTF-8 \
    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
    && rm -rf /var/lib/apt/lists/*
ENV LANG en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
    && export DEBIAN_FRONTEND=noninteractive \
    && apt-get update \
    && apt-get install -y tzdata \
    && dpkg-reconfigure --frontend noninteractive tzdata \
    && rm -rf /var/lib/apt/lists/*

# Update and upgrade packages
RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl gnupg2 lsb-release sudo software-properties-common wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2 Humble Base
RUN sudo add-apt-repository universe \
    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
    && apt-get update && apt-get install -y --no-install-recommends \
        ros-humble-ros-base \
        python3-argcomplete \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2 development tools
RUN apt-get update && apt-get install -y --no-install-recommends \
    bash-completion build-essential cmake gdb git openssh-client \
    python3-argcomplete python3-pip ros-dev-tools vim \
    && rm -rf /var/lib/apt/lists/*

RUN rosdep init || echo "rosdep already initialized"

# Set environment variables
ENV ROS_DISTRO=humble
ENV AMENT_PREFIX_PATH=/opt/ros/humble
ENV COLCON_PREFIX_PATH=/opt/ros/humble
ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
ENV PATH=/opt/ros/humble/bin:$PATH
ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2

ARG USERNAME=ros2
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
    # Add sudo support for the non-root user
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
    && chmod 0440 /etc/sudoers.d/$USERNAME \
    && rm -rf /var/lib/apt/lists/*

# Set up autocompletion for user
RUN apt-get update && apt-get install -y git-core bash-completion \
    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
    && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
    && rm -rf /var/lib/apt/lists/*

# Install i2c libraries
RUN apt-get update && apt-get install i2c-tools libi2c-dev libi2c0 -y \
    && rm -rf /var/lib/apt/lists/*

# Install smbus package (required by PCA9685 servo driver)
RUN apt-get update && apt-get install python3-pip -y \
    && pip3 install smbus \
    && rm -rf /var/lib/apt/lists/*

# Add the user to i2c group
RUN usermod -aG i2c $USERNAME

# Copy over some files


# Use new user name
USER $USERNAME

# Create a bound mount for the repo in case something happens, we won't lose our progress. 
# Plus we might tweak the dockerfile when we want to add support for cuda, fashie for now. But refer to althacks dockerfiles