Dockerfile.kinetic.nvidia

# This image allows you to have a Ubuntu 16.04 + ROS Kinetic setup.
# You can mount the path to the 'robotdev' repository in your host
# machine to the same path in the container. We ask you to use the
# same username in the container as in your host machine. This
# simplifies the maintenance of the 'robotdev' repository.
# This setup relies on the nice ros:kinetic image provided
# on Docker Hub.
# /author: Kaiyu Zheng
FROM nvidia/cudagl:9.0-base-ubuntu16.04

ENV UBUNTU_RELEASE=xenial
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $UBUNTU_RELEASE main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

RUN apt-get update && apt-get install -y \
    ros-kinetic-desktop-full \
 && rm -rf /var/lib/apt/lists/*

# Install software
RUN apt-get update
RUN apt-get install -y --no-install-recommends apt-utils
RUN apt-get install -y emacs
RUN apt-get install -y sudo
RUN apt-get install -y python-pip
RUN apt-get install -y net-tools
RUN apt-get install -y iproute2
RUN apt-get install -y iputils-ping
RUN apt-get install -y openssh-client openssh-server
RUN apt-get install -y ros-kinetic-desktop-full
RUN apt-get install -y ros-kinetic-navigation
RUN apt-get install -y ros-kinetic-ros-control ros-kinetic-ros-controllers
RUN apt-get install -y ros-kinetic-joy
RUN apt-get install -y ros-kinetic-gmapping ros-kinetic-navigation
RUN apt-get install -y ros-kinetic-rviz-imu-plugin
RUN apt-get install -y ros-kinetic-ar-track-alvar
RUN apt-get install -y ros-kinetic-moveit
RUN apt-get install -y ros-kinetic-moveit-commander
RUN apt-get install -y ros-kinetic-moveit-visual-tools
RUN apt-get install -y ros-kinetic-moveit-ros-visualization
RUN apt-get install -y ros-kinetic-moveit-planners-ompl
RUN apt-get install -y ros-kinetic-moveit-simple-controller-manager
RUN apt-get install -y ros-kinetic-trac-ik-kinematics-plugin
RUN apt-get install -y gdb
RUN apt-get install -y mlocate

# create a user
ARG hostuser
ARG hostgroup
ARG hostuid
ARG hostgid

RUN echo Host user is $hostuser:$hostuser
RUN groupadd --gid $hostgid $hostgroup
RUN adduser --disabled-password --gecos '' --gid $hostgid --uid $hostuid $hostuser
RUN adduser $hostuser sudo
# Ensure sudo group users are not asked for a p3assword when using sudo command
# by ammending sudoers file
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> \
/etc/sudoers

USER $hostuser
WORKDIR /home/$hostuser
ENV HOME=/home/$hostuser
RUN mkdir $HOME/repo

# Different shell color
RUN echo "export PS1='\e[33;1m\u@\h:\e[31m\w\e[0m\$ '" >> $HOME/.bashrc

# print some info on start
RUN echo "echo -e 'Welcome! You are now in a docker container ().'" >> $HOME/.bashrc
RUN echo "echo -e \"Docker ID: $(basename $(cat /proc/1/cpuset))\"" >> $HOME/.bashrc
CMD ["bash"]