Dockerfile.kinetic

FROM nvidia/cudagl:10.0-devel-ubuntu16.04

# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
# Full license terms provided in LICENSE.md file.

# Build with:
# docker build -t nvidia-dream:kinetic-v1 -f Dockerfile.kinetic ..

ENV HOME /root

WORKDIR ${HOME}

RUN apt-get update && apt-get -y --no-install-recommends install software-properties-common

# install packages requried for setup and installing ROS
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    wget \
    python-tk \
    && rm -rf /var/lib/apt/lists/*

# install python
RUN add-apt-repository ppa:deadsnakes/ppa \
    && apt-get update \
    && apt-get -y --no-install-recommends install python libpython-dev \
    && wget https://bootstrap.pypa.io/get-pip.py \
    && python2.7 get-pip.py

# Install DREAM requirements
COPY requirements.txt ${HOME}
RUN python2 -m pip install --no-cache-dir -r requirements.txt

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

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros1-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 DISPLAY :0
# Some QT-Apps don't not show controls without this
ENV QT_X11_NO_MITSHM 1

# bootstrap rosdep
ENV ROS_DISTRO kinetic
RUN rosdep init \
    && rosdep update --rosdistro $ROS_DISTRO

# install ros packages
RUN apt-get update \
    && apt-get install -y ros-kinetic-ros-core=1.3.2-0* \
    && apt-get install --no-install-recommends -y \
       ros-$ROS_DISTRO-rviz       \
       ros-$ROS_DISTRO-tf2        \
       ros-$ROS_DISTRO-cv-bridge  \
       ros-$ROS_DISTRO-image-view \
    && rm -rf /var/lib/apt/lists/*

RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> ${HOME}/.bashrc
RUN echo 'source /root/catkin_ws/devel/setup.bash' >> ${HOME}/.bashrc

# Setup catkin workspace
ENV CATKIN_WS ${HOME}/catkin_ws
COPY docker/init_workspace.sh ${HOME}
RUN ${HOME}/init_workspace.sh

# cleanup
RUN rm /root/requirements.txt /root/get-pip.py /root/init_workspace.sh

CMD ["bash"]