From 2fb7e4e82b1b8691bc7f2432517e4958c7fe51fd Mon Sep 17 00:00:00 2001
From: Celeste Pilgrim <joeuser846@gmail.com>
Date: Mon, 4 Sep 2023 11:10:11 -0400
Subject: [PATCH] Dockerfile with all fixes

---
 Dockerfile | 88 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 88 insertions(+)
 create mode 100644 Dockerfile

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..b760d0e5
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,88 @@
+# Command to invoke this Docker image build:
+# docker build --file Dockerfile -t diffbot_dev_image:latest .
+
+# After build run containers with:
+# docker run -it --rm --net=host --privileged --add-host=devhost:<your devhost IP> -v /tmp/.X11-unix:/tmp/.X11-unix --name=roscore diffbot_dev_image:latest'
+# docker run -it --rm --net=host --privileged --add-host=devhost:<your devhost IP> -v /tmp/.X11-unix:/tmp/.X11-unix --name=rosnav  diffbot_dev_image:latest'
+
+# Run following command on devhost before starting any process with graphic output (rviz, rqt, etc.)
+# xhost +local:
+
+# This build is based on official ROS Noetic (includes Ubuntu 20.04LTS) Docker image
+FROM ros:noetic
+USER root
+
+# Upgrade Ubuntu and install helpful utilities
+RUN apt-get update
+RUN apt-get upgrade -y
+RUN apt install -y \
+    python3-catkin-tools \
+    python3-vcstool \
+    wget \
+    git \
+# Following are optional but nice for debugging your image and containers
+# Just remember that containers are immutable so any changes are ephemeral
+# For permanent changes update this dockerfile and rebuild the image
+	net-tools \
+	nano \
+	iputils-ping
+
+# Update apt repos so we can install ROS packages
+RUN sh \
+    -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" \
+        > /etc/apt/sources.list.d/ros-latest.list'
+RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+
+# Install ROS utilities
+RUN apt update
+RUN apt install -y \
+      ros-noetic-roslint \
+      ros-noetic-geographic-msgs \
+      libgeographic-dev \
+      ros-noetic-rqt \
+      ros-noetic-rqt-robot-plugins
+
+# Set location of our container's catkin workspace
+ENV ROS_WS /opt/ros_ws
+RUN mkdir -p $ROS_WS/src
+WORKDIR $ROS_WS
+
+# I had problems when set to localhost, passing devhost IP via 'docker run' command fixes comms
+ENV ROS_MASTER_URI http://devhost:11311/
+
+# Do this ---->
+# Copy our customized/cloned catkin_ws/src into the image
+# Note: catkin_ws/src MUST be in same directory as this dockerfile, symbolic links won't work
+# COPY catkin_ws/src $ROS_WS/src
+
+# OR this ---->
+# To build from the official diffbot repo on github, instead of your 
+# custom catkin_ws, just comment-out the COPY above and then uncomment the following two commands
+RUN git -C src clone \
+    -b noetic-devel \  
+    https://github.com/ros-mobile-robots/diffbot.git
+RUN vcs import < $ROS_WS/src/diffbot/diffbot_dev.repos
+
+# Install diffbot ROS package dependencies
+RUN rosdep update
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+# Build all ROS packages from source code
+RUN catkin config --extend /opt/ros/$ROS_DISTRO
+RUN catkin build
+
+# Source our diffbot environment
+RUN sed --in-place --expression \
+      '$isource "$ROS_WS/devel/setup.bash"' \
+      /ros_entrypoint.sh
+
+# Tell container that UI output goes to host X11 server display 0
+ENV DISPLAY=:0
+# Important: devhost MUST execute 'xhost +local:' command BEFORE rviz tries to open display (at OS prompt, not container prompt)   
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+CMD ["/bin/bash"]
+
+# Suggestion: Run one container for roscore and another for navigation (see 'docker run' examples above.)
\ No newline at end of file