Dockerfile

FROM ros:humble-ros-base-jammy

# we want the familiar bash for everything, not sh.
# this makes source-ing work
SHELL ["/bin/bash", "-c"]

# this allows the containers to connect to the host ros2
# use --network=host --ipc=host --pid=host with run 
# and export ROS_DOMAIN_ID=42 on the host
ENV ROS_DOMAIN_ID 42
ENV ROS_LOCALHOST_ONLY 0
ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# update things
RUN apt update && apt upgrade -y \
# package managers and such...
&&  apt install -y python3-pip apt-utils ros-dev-tools unzip \
# this version of setuptools doesn't have the annoying warnings...
&&  pip install --no-input setuptools==58.2.0

# create a non-root user for most things, including ros2
# use --build-arg UID=${id -u} etc to transfer host ids/name into the container!
ARG UID=1000
ARG GID=1000
ARG USERNAME=smarc2user
RUN adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} --uid ${GID:=1000} ${USERNAME}

WORKDIR /home/${USERNAME}

# clone the base smarc2 dir and make the colcon ws while at it
RUN mkdir -p colcon_ws/src/smarc2

# copy everything in the smarc2 folder, _except the unity sim projects_, into the container
# the "except" part is defined in the .dockerignore file!
COPY . colcon_ws/src/smarc2/

# make colcon behave by adding this defaults file
RUN mkdir .colcon/ \
&& echo "{ \
    "build": { \
        "symlink-install": true, \
        "build-base": "/home/${USERNAME}/colcon_ws/build", \
        "install-base": "/home/${USERNAME}/colcon_ws/install", \
        "log-base": "/home/${USERNAME}/colcon_ws/log", \
        "base-paths": ["/home/${USERNAME}/colcon_ws/src"] \
    }, \
    "test": { \
        "build-base": "/home/${USERNAME}/colcon_ws/build", \
        "install-base": "/home/${USERNAME}/colcon_ws/install", \
        "log-base": "/home/${USERNAME}/colcon_ws/log", \
        "event-handlers": ["console_direct+"], \
        "base-paths": ["/home/${USERNAME}/colcon_ws/src"], \
    } \
}" > .colcon/defaults.yaml

WORKDIR /home/${USERNAME}/colcon_ws/src/smarc2

# get the submodules needed for core
RUN scripts/get-submodules.sh external_packages
# get the latest compiled binary of the unity sim
# RUN mkdir -p simulation/binaries \
# &&  cd simulation/binaries \
# &&  ../../scripts/get_latest_unity_standard.sh
# Disabled until we actually have tests that use this stuff

# install deps
WORKDIR /home/${USERNAME}/colcon_ws
RUN rosdep update \
&&  ./src/smarc2/scripts/rosdep_install_from_src.sh \
# no bashrc in dockerfiles, so we source and build in the same run
&&  source /opt/ros/humble/setup.bash \
&&  colcon build \
# add the source directives into the users bashrc
&&  echo "source /opt/ros/humble/setup.bash" >> /home/${USERNAME}/.bashrc \
&&  echo "source /home/${USERNAME}/colcon_ws/install/setup.bash" >> /home/${USERNAME}/.bashrc \
# make everything we installed into the user's home directory 
# actually owned by the user...
&&  chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}

# finally switch to the user we created for normal use
USER ${USERNAME}

ENTRYPOINT ["/bin/bash"]