Docker improvements

Author: glpuga

docker/Dockerfile.isaac

@@ -1,4 +1,15 @@
-FROM nvcr.io/nvidia/isaac-sim:4.2.0
+FROM osrf/ros:humble-desktop-full AS cacher
+
+WORKDIR /ws/src
+
+COPY . ar4/
+
+RUN mkdir -p /tmp/ws/src \
+ && find ./ -name "package.xml" | xargs cp --parents -t /tmp/ws/src \
+ && find ./ -name "COLCON_IGNORE" | xargs cp --parents -t /tmp/ws/src \
+ || true
+
+ FROM nvcr.io/nvidia/isaac-sim:4.2.0
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -7,8 +18,8 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 # Install base system dependencies and development dependencies
-RUN apt-get update  \
-    && apt-get install --no-install-recommends -y \
+RUN apt update  \
+ && apt install --no-install-recommends -y \
     apt-utils \
     bash-completion \
     build-essential \
@@ -32,8 +43,8 @@ RUN apt-get update  \
     screen \
     software-properties-common \
     sudo \
-    tmux && \
-    rm -rf /var/lib/apt/lists/*
+    tmux \
+ && rm -rf /var/lib/apt/lists/*
 
 # Install python dependencies
 RUN pip install --no-cache-dir --extra-index-url https://pypi.nvidia.com \
@@ -58,26 +69,58 @@ RUN pip install --no-cache-dir --extra-index-url https://pypi.nvidia.com \
     isaacsim-utils==4.2.0.2 \
     nest-asyncio
 
-# Ensure cache folder is created, and symlink it to an easier to mount folder for persistance
+# Ensure cache folder is created, and symlink it to an easier to mount folder for persistence
 RUN mkdir -p /usr/local/lib/python3.10/dist-packages/omni/cache \
-    && ln -s /usr/local/lib/python3.10/dist-packages/omni/cache /root/.isaac-sim-cache
+ && ln -s /usr/local/lib/python3.10/dist-packages/omni/cache /root/.isaac-sim-cache
+
 
 # Install ROS 2
-RUN apt-get update \
-    && apt-get install --no-install-recommends -y \
-        ros-humble-desktop \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ros dependencies, updating the apt cache is necessary.
-RUN --mount=type=bind,source=.,target=/tmp/ws \
-    rosdep init \
-    && apt-get update \
-    && . /opt/ros/humble/setup.sh \
-    && rosdep update \
-    && rosdep install --from-paths /tmp/ws --ignore-src -r -y \
-    && rm -rf /var/lib/apt/lists/*
-
-WORKDIR /workspace
-
-ENTRYPOINT ["/bin/bash", "-c"]
+RUN apt update \
+ && apt install --no-install-recommends -y \
+    ros-humble-ros-base \
+ && rm -rf /var/lib/apt/lists/*
+
+ARG USER=developer
+ARG GROUP=developer
+
+ARG USERID=1000
+ARG GROUPID=1000
+
+ENV USER $USER
+ENV GROUP $GROUP
+
+RUN userdel ubuntu
+
+RUN addgroup --gid $GROUPID $GROUP \
+ && adduser --uid $USERID --ingroup $GROUP --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER \
+ && adduser $USER sudo \
+ && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
+
+RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - \
+ && chown root:root /usr/local/bin/fixuid \
+ && chmod 4755 /usr/local/bin/fixuid \
+ && mkdir -p /etc/fixuid \
+ && printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
+
+USER $USER
+
+ENV USER_WS /workspace
+RUN sudo mkdir -p $USER_WS/src && sudo chown -R $USER:$GROUP $USER_WS
+
+WORKDIR $USER_WS
+
+#
+# Install ROS project dependencies by copying the package.xml files (but not the source code,
+# to avoid rebuilding the workspace every time the source code changes) and running rosdep install
+COPY --from=cacher --chown=$USER:$GROUP /tmp/ws/ $USER_WS/
+RUN sudo apt update \
+ && . /opt/ros/humble/setup.sh \
+ && sudo rosdep init \
+ && rosdep update \
+ && rosdep install -i -y -r --from-path src \
+ && sudo rm -rf /var/lib/apt/lists/*
+
+ENV WITHIN_DEV 1
+
 CMD ["/bin/bash"]
+ENTRYPOINT ["fixuid", "-q"]