├── Dockerfile
├── README.md
├── build.sh
└── run.sh


/Dockerfile:
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 1 | FROM ros:indigo
 2 | 
 3 | # Arguments
 4 | ARG user
 5 | ARG uid
 6 | ARG home
 7 | ARG workspace
 8 | ARG shell
 9 | 
10 | # Basic Utilities
11 | RUN apt-get -y update && apt-get install -y zsh screen tree sudo ssh synaptic
12 | 
13 | # Latest X11 / mesa GL
14 | RUN apt-get install -y\
15 |   xserver-xorg-dev-lts-wily\
16 |   libegl1-mesa-dev-lts-wily\
17 |   libgl1-mesa-dev-lts-wily\
18 |   libgbm-dev-lts-wily\
19 |   mesa-common-dev-lts-wily\
20 |   libgles2-mesa-lts-wily\
21 |   libwayland-egl1-mesa-lts-wily\
22 |   libopenvg1-mesa
23 | 
24 | # Dependencies required to build rviz
25 | RUN apt-get install -y\
26 |   qt4-dev-tools\
27 |   libqt5core5a libqt5dbus5 libqt5gui5 libwayland-client0\
28 |   libwayland-server0 libxcb-icccm4 libxcb-image0 libxcb-keysyms1\
29 |   libxcb-render-util0 libxcb-util0 libxcb-xkb1 libxkbcommon-x11-0\
30 |   libxkbcommon0
31 | 
32 | # The rest of ROS-desktop
33 | RUN apt-get install -y ros-indigo-desktop-full
34 | 
35 | # Additional development tools
36 | RUN apt-get install -y x11-apps python-pip build-essential
37 | RUN pip install catkin_tools
38 | 
39 | # Make SSH available
40 | EXPOSE 22
41 | 
42 | # Mount the user's home directory
43 | VOLUME "${home}"
44 | 
45 | # Clone user into docker image and set up X11 sharing 
46 | RUN \
47 |   echo "${user}:x:${uid}:${uid}:${user},,,:${home}:${shell}" >> /etc/passwd && \
48 |   echo "${user}:x:${uid}:" >> /etc/group && \
49 |   echo "${user} ALL=(ALL) NOPASSWD: ALL" > "/etc/sudoers.d/${user}" && \
50 |   chmod 0440 "/etc/sudoers.d/${user}"
51 | 
52 | # Switch to user
53 | USER "${user}"
54 | # This is required for sharing Xauthority
55 | ENV QT_X11_NO_MITSHM=1
56 | ENV CATKIN_TOPLEVEL_WS="${workspace}/devel"
57 | # Switch to the workspace
58 | WORKDIR ${workspace}
59 | 


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/README.md:
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 1 | ## rosdocked
 2 | 
 3 | Run ROS Indigo / Ubuntu Trusty within Docker on Ubuntu Xenial or on any platform with a shared
 4 | username, home directory, and X11.
 5 | 
 6 | This enables you to build and run a persistent ROS Indigo workspace as long as
 7 | you can run Docker images.
 8 | 
 9 | Note that any changes made outside of your home directory from within the Docker environment will not persist. If you want to add additional binary packages without having to reinstall them each time, add them to the Dockerfile and rebuild.
10 | 
11 | For more info on Docker see here: https://docs.docker.com/engine/installation/linux/ubuntulinux/
12 | 
13 | ### Build
14 | 
15 | This will create the image with your user/group ID and home directory.
16 | 
17 | ```
18 | ./build.sh IMAGE_NAME
19 | ```
20 | 
21 | ### Run
22 | 
23 | This will run the docker image.
24 | 
25 | ```
26 | ./dock.sh IMAGE_NAME
27 | ```
28 | 
29 | The image shares it's  network interface with the host, so you can run this in
30 | multiple terminals for multiple hooks into the docker environment.
31 | 
32 | ### Whale
33 | 
34 | 🐳
35 | 


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/build.sh:
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 1 | #!/usr/bin/env bash
 2 | 
 3 | # Check args
 4 | if [ "$#" -ne 1 ]; then
 5 |   echo "usage: ./build.sh IMAGE_NAME"
 6 |   return 1
 7 | fi
 8 | 
 9 | # Get this script's path
10 | pushd `dirname $0` > /dev/null
11 | SCRIPTPATH=`pwd`
12 | popd > /dev/null
13 | 
14 | # Build the docker image
15 | docker build\
16 |   --build-arg user=$USER\
17 |   --build-arg uid=$UID\
18 |   --build-arg home=$HOME\
19 |   --build-arg workspace=$SCRIPTPATH\
20 |   --build-arg shell=$SHELL\
21 |   -t $1 .
22 | 


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/run.sh:
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 1 | #!/usr/bin/env bash
 2 | 
 3 | # Check args
 4 | if [ "$#" -ne 1 ]; then
 5 |   echo "usage: ./run.sh IMAGE_NAME"
 6 |   return 1
 7 | fi
 8 | 
 9 | # Get this script's path
10 | pushd `dirname $0` > /dev/null
11 | SCRIPTPATH=`pwd`
12 | popd > /dev/null
13 | 
14 | set -e
15 | 
16 | # Run the container with shared X11
17 | docker run\
18 |   --net=host\
19 |   -e SHELL\
20 |   -e DISPLAY\
21 |   -e DOCKER=1\
22 |   -v "$HOME:$HOME:rw"\
23 |   -v "/tmp/.X11-unix:/tmp/.X11-unix:rw"\
24 |   -it $1 $SHELL
25 | 


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