Preliminary Dockerfile for testing.

Author: amarburg

.docker/Dockerfile

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+ARG UBUNTU_VERSION=focal
+
+#====================================================================
+# Preliminary image with dependencies
+#====================================================================
+#
+## This should work on both amd64 and arm64 through the magic of multi-arch?
+FROM ubuntu:${UBUNTU_VERSION} AS deps
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    cmake \
+    gcc \
+    git \
+    libboost1.71-all-dev \
+    python3 \
+    python3-apt \
+    python3-distutils \
+    python3-pip \
+    python-is-python3 \
+    && apt autoremove -y \
+    && apt clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+#RUN pip3 install distutils
+
+#====================================================================
+# Intermediate image with prereq steps for running in CI
+#====================================================================
+FROM deps as ci
+
+## ~~ Create non-root user ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+ARG USERNAME=apl
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  #
+  # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME
+
+USER $USERNAME
+WORKDIR /home/apl
+
+CMD ["/bin/bash"]
+
+#====================================================================
+# Intermediate image with cloned Git repos
+#====================================================================
+FROM ci as git_checkout
+
+ARG WS_DIR=/home/$USERNAME/ros_ws
+ONBUILD WORKDIR ${WS_DIR}/src
+
+ARG LIBOCULUS_REPO=https://github.com/apl-ocean-engineering/liboculus.git
+ARG LIBOCULUS_BRANCH=main
+ONBUILD RUN echo "Cloning from ${LIBOCULUS_BRANCH} branch ${LIBOCULUS_ROS_REPO}"
+
+ONBUILD RUN git clone --depth 1 -b ${LIBOCULUS_BRANCH} ${LIBOCULUS_REPO}
+
+#====================================================================
+# Final image with built ROS packages
+#====================================================================
+# dockerfile_lint - ignore
+FROM git_checkout as liboculus
+
+ARG WS_DIR
+LABEL Version=0.1
+LABEL Name=arena_camera_ros
+
+WORKDIR ${WS_DIR}/liboculus
+RUN ./fips build

.docker/docker-compose.yml

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+## Start a development stack with the current repo mounted into ros_ws/src/
+
+version: "3.9"
+services:
+  ci:
+    build:
+      dockerfile: Dockerfile
+      target: ci
+    image: ghcr.io/apl-ocean-engineering/liboculus/liboculus:latest
+    stdin_open: true
+    tty: true
+    volumes:
+      - type: bind
+        source: ..
+        target: /home/apl/liboculus