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melodic_dockerfile.Dockerfile

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+FROM osrf/ros:melodic-desktop-full-bionic
+
+# Set default shell
+SHELL ["/bin/bash", "-c"]
+
+# Add new user
+RUN useradd --system --create-home --home-dir /home/user --shell /bin/bash --gid root --groups sudo,users --uid 1000 --password user@123 user && \ 
+    echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+ENV QT_X11_NO_MITSHM=1 \
+    USER=user \
+    LANG=en_US.UTF-8 \
+    HOME=/home/user \
+    XDG_RUNTIME_DIR=/run/user/1000 \
+    TZ=America/New_York
+
+USER $USER
+WORKDIR $HOME
+# custom Bash prompt
+RUN { echo && echo "PS1='\[\e]0;\u \w\a\]\[\033[01;32m\]\u\[\033[00m\] \[\033[01;34m\]\w\[\033[00m\] \\\$ '" ; } >> .bashrc
+
+RUN /bin/bash -c "apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654"
+
+# Basic setup
+RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends --allow-unauthenticated \
+    software-properties-common \
+    build-essential \
+    g++ \
+    git \
+    ca-certificates \
+    make \
+    automake \
+    autoconf \
+    libtool \
+    pkg-config \
+    python \
+    libxext-dev \
+    libx11-dev \
+    doxygen \
+    tmux \
+    tzdata \
+    xclip \
+    x11proto-gl-dev && \
+    sudo rm -rf /var/lib/apt/lists/*
+
+# Setup tmux config
+ADD --chown=user:1000 https://raw.githubusercontent.com/kanishkaganguly/dotfiles/master/tmux/.tmux.bash.conf $HOME/.tmux.conf
+
+# Set datetime and timezone correctly
+# Remove duplicate sources
+RUN sudo ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo '$TZ' | sudo tee -a /etc/timezone
+
+# Install ROS packages
+RUN sudo apt-get update && sudo apt-get install -y \
+    python-catkin-tools \
+    ros-melodic-moveit-visual-tools \
+    ros-melodic-moveit-*
+
+# Setup ROS workspace directory
+RUN mkdir -p $HOME/workspace/src && \
+    catkin init --workspace $HOME/workspace/ && \
+    cd $HOME/workspace/src
+
+# cmake 3.16
+ADD https://cmake.org/files/v3.16/cmake-3.16.9-Linux-x86_64.sh /opt/cmake-3.16.9-Linux-x86_64.sh
+WORKDIR /opt/
+RUN sudo chmod +x /opt/cmake-3.16.9-Linux-x86_64.sh && \
+    bash -c "yes Y | sudo /opt/cmake-3.16.9-Linux-x86_64.sh" && \
+    bash -c "sudo ln -s /opt/cmake-3.16.9-Linux-x86_64/bin/* /usr/local/bin"
+
+
+# Set up ROS
+RUN source /opt/ros/melodic/setup.bash && \
+    cd ${HOME}/workspace && \
+    catkin build && \
+    source $HOME/workspace/devel/setup.bash
+
+# Setup UR Drivers
+RUN source /opt/ros/melodic/setup.bash && \
+    cd ~/workspace && \
+    git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver && \
+    git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot && \
+    sudo apt update -qq && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y && \
+    catkin build && \
+    source devel/setup.bash
+
+
+# Set up working directory and bashrc
+WORKDIR ${HOME}/workspace/
+RUN echo 'source /opt/ros/melodic/setup.bash' >> $HOME/.bashrc && \
+    echo 'source $HOME/workspace/devel/setup.bash' >> $HOME/.bashrc
+CMD /bin/bash