Update docker

Dockerfile

@@ -1,31 +1,36 @@
-ARG ros_distro=noetic
-FROM ros:${ros_distro}-ros-base
-
-SHELL ["/bin/bash", "-c"]
-
-ENV DEBIAN_FRONTEND noninteractive
-
-# ROS setting
-ARG ros_distro
-ENV ROS_DISTRO=${ros_distro}
-RUN mkdir -p catkin_ws/src
-
-RUN cd catkin_ws/src && \
-    source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    catkin_init_workspace
-
-COPY . /root/catkin_ws/src/repo
-
-RUN cd /root/catkin_ws && \
-    apt-get update && \
-    rosdep update && \
-    rosdep install -i -r -y --from-paths src && \
-    source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    catkin_make -DCMAKE_BUILD_TYPE=Release
-
-RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash && source /root/catkin_ws/devel/setup.bash && exec "$@"' \
-    > /root/ros_entrypoint.sh
-
-WORKDIR /root/catkin_ws
-
-ENTRYPOINT ["bash", "/root/ros_entrypoint.sh"]
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}
+ARG USERNAME=user
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN ln -sf /usr/share/zoneinfo/Asia/Tokyo /etc/localtime
+
+RUN groupadd --gid ${USER_GID} ${USERNAME} \
+    && useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
+    && apt-get update \
+    && apt-get install -y sudo git vim \
+    && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
+    && chmod 0440 /etc/sudoers.d/${USERNAME}
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-desktop \
+    python3-catkin-tools \
+    python3-vcstool \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs
+RUN rm -rf /var/lib/apt/lists/*
+RUN rm /etc/apt/apt.conf.d/docker-clean
+
+# install and build
+USER ${USERNAME}
+RUN mkdir -p ~/ws/src
+WORKDIR /home/${USERNAME}/ws/src
+RUN git clone https://github.com/amslabtech/dwa_planner.git \
+    && git clone -b ${ROS_DISTRO}-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git \
+    && git clone -b ${ROS_DISTRO}-devel https://github.com/ROBOTIS-GIT/turtlebot3.git \
+    && git clone -b ${ROS_DISTRO}-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+WORKDIR /home/${USERNAME}/ws
+RUN sudo apt-get update && rosdep update && rosdep install -riy --from-paths src --rosdistro ${ROS_DISTRO}
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && catkin build -DCMAKE_BUILD_TYPE=Release"
+
+CMD ["/bin/bash"]

docker-compose.yml

@@ -0,0 +1,17 @@
+version: "3.9"
+
+services:
+  demo:
+    container_name: dwa_planner
+    build:
+      context: .
+      dockerfile: Dockerfile
+    tty: true
+    environment:
+      DISPLAY: $DISPLAY
+      TURTLEBOT3_MODEL: burger
+    volumes:
+      - type: bind
+        source: /tmp/.X11-unix
+        target: /tmp/.X11-unix
+    command: /bin/bash -c "source /opt/ros/noetic/setup.bash && source ~/ws/devel/setup.bash && roslaunch dwa_planner demo.launch"