Dockerfile-rosssh

# === neildhar/rosssh === #

FROM osrf/ros:kinetic-desktop-full-xenial

#add ROS sources
RUN apt update && apt install -y openssh-server x11-apps mesa-utils vim llvm-dev sudo autoconf
RUN mkdir /var/run/sshd
RUN echo 'root:buttercups' | chpasswd
RUN sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config
RUN grep "^X11UseLocalhost" /etc/ssh/sshd_config || echo "X11UseLocalhost no" >> /etc/ssh/sshd_config

# SSH login fix. Otherwise user is kicked off after login
RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd

#Rebuild MESA with llvmpipe (from https://turbovnc.org/Documentation/Mesa)
RUN wget ftp://ftp.freedesktop.org/pub/mesa/mesa-18.3.1.tar.gz;\
    tar -zxvf mesa-18.3.1.tar.gz;\
    rm mesa-18.3.1.tar.gz;\
    cd mesa-18.3.1;\
    autoreconf -fiv;\
    ./configure --enable-glx=gallium-xlib --disable-dri --disable-egl --disable-gbm --with-gallium-drivers=swrast --prefix=$HOME/mesa;\
    make install

#set up locales
RUN apt install -y locales screen
RUN locale-gen en_GB.UTF-8 && locale-gen en_US.UTF-8

#INSTALL ADDITIONAL ROS PACKAGES BELOW HERE

#clear apt caches to reduce image size
RUN rm -rf /var/lib/apt/lists/*

#configure system to use new mesa
RUN cd ~ && echo "export LD_LIBRARY_PATH=/root/mesa/lib" > opengl.sh

ENV NOTVISIBLE "in users profile"
RUN echo "export VISIBLE=now" >> /etc/profile

# Start and expose the SSH service
EXPOSE 22
ENTRYPOINT service ssh restart