Dockerfile

FROM ghcr.io/selkies-project/nvidia-egl-desktop:20.04-20240425164112

SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND noninteractive
RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
        curl \
        gnupg \
        lsb-release \
        less \
        emacs \
        tmux \
        bash-completion \
        command-not-found \
        software-properties-common \
        xdg-user-dirs \
        && \
    sudo apt-get clean && \
    sudo rm -rf /var/lib/apt/lists/*

# install ROS2 Foxy
RUN sudo 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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
        ros-foxy-desktop \
        && \
    sudo apt-get clean && \
    sudo rm -rf /var/lib/apt/lists/*

# install colcon and rosdep
RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
        python3-colcon-common-extensions \
        python3-rosdep \
        && \
    sudo apt-get clean && \
    sudo rm -rf /var/lib/apt/lists/*

# initialize rosdep
RUN sudo rosdep init && \
    rosdep update

RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \
    echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

# disabled beep sound
RUN echo "set bell-style none" >> ~/.inputrc

RUN sudo rm /etc/apt/apt.conf.d/docker-clean