Dockerfile

FROM nvidia/cuda:12.2.0-devel-ubuntu20.04
# start with the nvidia container with Ubuntu 20.04 and CUDA+cudnn

LABEL maintainer="Lukas Rustler <lukas.rustler@fel.cvut.cz>"

#Non-interactive mode
ENV DEBIAN_FRONTEND='noninteractive'

#Change for other python; 3.11 may be too much right now
ARG PYTHON_VER=3.11

#Install all neccesary thingies
RUN apt update -y && apt install software-properties-common -y && add-apt-repository ppa:deadsnakes/ppa -y  \
    && apt update && apt install python$PYTHON_VER wget sudo gedit unzip apt-utils curl \
    python$PYTHON_VER-venv nano mesa-utils curl htop net-tools sshfs python$PYTHON_VER-distutils  \
    screen git python$PYTHON_VER-dev libpng-dev libqhull-dev libfreetype6-dev libfreetype6  \
    pkg-config python3.8-venv python3.8-dev -y

#Install pips
# 3.8 is default at Ubuntu 20.04 and is fine for thing that do not work on newer versions
RUN curl -sS https://bootstrap.pypa.io/get-pip.py | python$PYTHON_VER &&  \
    curl -sS https://bootstrap.pypa.io/get-pip.py | python3.8

#Default args, that can be changed during build
ARG UID=1000
ARG GID=1000

# SSH
RUN apt install openssh-server -y && sed -i 's/\(^Port\)/#\1/' /etc/ssh/sshd_config &&  \
    echo Port 2222 >> /etc/ssh/sshd_config && service ssh start

#Add docker user with correct UID and GID; and add him to sudoers
RUN groupadd -g $GID docker_users && useradd -l -u $UID -G $GID -md /home/docker -s /bin/bash docker && \
    echo 'docker:docker' | chpasswd && usermod -aG sudo docker && \
    sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers && \
    echo "docker  ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers

# PyCharm
ARG PYCHARM_VER=2023.2.3
RUN cd /opt && wget https://download.jetbrains.com/python/pycharm-community-$PYCHARM_VER.tar.gz &&  \
    tar -xvf pycharm-community-$PYCHARM_VER.tar.gz && rm pycharm-community-$PYCHARM_VER.tar.gz &&  \
    mv pycharm-community-$PYCHARM_VER pycharm && ln -s /opt/pycharm/bin/pycharm.sh /usr/bin/pycharm && chmod +x /usr/bin/pycharm

#ROS
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    apt update && apt install ros-noetic-desktop-full python3-rosdep python3-rosinstall python3-rosinstall-generator \
    python3-wstool build-essential python3-rosdep python3-catkin-tools ros-noetic-moveit* \
    ros-noetic-ddynamic-reconfigure* libglfw3-dev ros-noetic-effort* ros-noetic-ros-control* ros-noetic-rgbd-launch -y

# RealSense
USER docker
RUN sudo mkdir -p /etc/apt/keyrings && curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp |  \
    sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null &&  \
    echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo  \
    `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list && sudo apt-get update && \
    sudo apt install librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg -y

# UR
RUN sudo apt install ros-noetic-trac-ik-kinematics-plugin ros-noetic-rqt-joint-trajectory-controller  \
    ros-noetic-industrial-robot-status-interface ros-noetic-scaled-joint-trajectory-controller  \
    ros-noetic-speed-scaling-state-controller ros-noetic-ur-msgs ros-noetic-pass-through-controllers  \
    ros-noetic-ur-client-library -y && \
    sudo rosdep init && rosdep update && python3 -m pip install modbus-tk

RUN python3 -m pip install roboticstoolbox-python pybullet numpy scipy cython matplotlib open3d sphinx sphinx_rtd_theme \
    m2r2 --verbose --no-cache-dir
RUN sudo apt update && sudo apt install latexmk texlive-latex-extra -y
RUN echo "export PATH=$PATH:/home/docker/.local/bin" >> /home/docker/.bashrc && echo "source /home/docker/adaptive_skin_ws/devel/setup.bash" >> /home/docker/.bashrc

# Delete thingies from aptitude
RUN sudo rm -Rf /var/lib/apt/lists/*

WORKDIR /home/docker
ENTRYPOINT sudo service ssh start >> /dev/null && /bin/bash