atinfinity/Dockerfile

## Dockerfile
FROM nvidia/cuda:11.1-cudnn8-devel-ubuntu20.04

ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# add new sudo user
ENV USERNAME autoware
ENV HOME /home/$USERNAME
RUN useradd -m $USERNAME && \
        echo "$USERNAME:$USERNAME" | chpasswd && \
        usermod --shell /bin/bash $USERNAME && \
        usermod -aG sudo $USERNAME && \
        mkdir /etc/sudoers.d && \
        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
        chmod 0440 /etc/sudoers.d/$USERNAME && \
        # Replace 1000 with your user/group id
        usermod  --uid 1000 $USERNAME && \
        groupmod --gid 1000 $USERNAME

# install package
RUN echo "Acquire::GzipIndexes \"false\"; Acquire::CompressionTypes::Order:: \"gz\";" > /etc/apt/apt.conf.d/docker-gzip-indexes
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
        build-essential \
        sudo \
        less \
        emacs \
        apt-utils \
        tzdata \
        git \
        tmux \
        bash-completion \
        command-not-found \
        software-properties-common \
        curl \
        gnupg2 \
        lsb-release \
        keyboard-configuration \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# install Git LFS
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
    apt-get install git-lfs && \
    git lfs install && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# install ROS2 foxy
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-foxy-ros-base \
        ros-foxy-rmw-cyclonedds-cpp \
        python3-argcomplete \
        python3-colcon-common-extensions \
        python3-pip \
        python3-vcstool \
        python3-rosdep \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*
RUN rosdep init

USER $USERNAME
WORKDIR /home/$USERNAME
RUN rosdep update
SHELL ["/bin/bash", "-c"]

# install Autoware Auto
RUN source /opt/ros/foxy/setup.bash && \
    git lfs clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git -b 1.0.0 && \
    cd AutowareAuto && \
    sed -i -e 's/	fetchexclude = \*.pcd//' .lfsconfig && \
    git lfs pull && \
    sudo apt-get update && \
    vcs import < autoware.auto.$ROS_DISTRO.repos && \
    rosdep install -y -i --from-paths src && \
    sudo mkdir /opt/AutowareAuto && \
    sudo chmod 777 /opt/AutowareAuto && \
    colcon build --install-base /opt/AutowareAuto --cmake-args -DCMAKE_BUILD_TYPE=Release && \
    sudo apt-get clean && \
    sudo rm -rf /var/lib/apt/lists/*

RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \
    echo "source /opt/AutowareAuto/setup.bash" >> ~/.bashrc && \
    echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc && \
    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
    source ~/.bashrc

## launch_container.sh
#!/bin/sh

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --runtime=nvidia --privileged --rm -it \
           --volume=$XSOCK:$XSOCK:rw \
           --volume=$XAUTH:$XAUTH:rw \
           --volume=$HOME:$HOME \
           --shm-size=1gb \
           --env="XAUTHORITY=${XAUTH}" \
           --env="DISPLAY=${DISPLAY}" \
           --env=TERM=xterm-256color \
           --env=QT_X11_NO_MITSHM=1 \
           --net=host \
           autoware.auto:1.0.0 \
           bash
	FROM nvidia/cuda:11.1-cudnn8-devel-ubuntu20.04

	ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
	ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

	# add new sudo user
	ENV USERNAME autoware
	ENV HOME /home/$USERNAME
	RUN useradd -m $USERNAME && \
	echo "$USERNAME:$USERNAME" \| chpasswd && \
	usermod --shell /bin/bash $USERNAME && \
	usermod -aG sudo $USERNAME && \
	mkdir /etc/sudoers.d && \
	echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
	chmod 0440 /etc/sudoers.d/$USERNAME && \
	# Replace 1000 with your user/group id
	usermod --uid 1000 $USERNAME && \
	groupmod --gid 1000 $USERNAME

	# install package
	RUN echo "Acquire::GzipIndexes \"false\"; Acquire::CompressionTypes::Order:: \"gz\";" > /etc/apt/apt.conf.d/docker-gzip-indexes
	ENV DEBIAN_FRONTEND noninteractive
	RUN apt-get update && apt-get install -y --no-install-recommends \
	build-essential \
	sudo \
	less \
	emacs \
	apt-utils \
	tzdata \
	git \
	tmux \
	bash-completion \
	command-not-found \
	software-properties-common \
	curl \
	gnupg2 \
	lsb-release \
	keyboard-configuration \
	&& \
	apt-get clean && \
	rm -rf /var/lib/apt/lists/*

	# install Git LFS
	RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh \| bash && \
	apt-get install git-lfs && \
	git lfs install && \
	apt-get clean && \
	rm -rf /var/lib/apt/lists/*

	# install ROS2 foxy
	RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
	RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \| tee /etc/apt/sources.list.d/ros2.list > /dev/null
	RUN apt-get update && apt-get install -y --no-install-recommends \
	ros-foxy-ros-base \
	ros-foxy-rmw-cyclonedds-cpp \
	python3-argcomplete \
	python3-colcon-common-extensions \
	python3-pip \
	python3-vcstool \
	python3-rosdep \
	&& \
	apt-get clean && \
	rm -rf /var/lib/apt/lists/*
	RUN rosdep init

	USER $USERNAME
	WORKDIR /home/$USERNAME
	RUN rosdep update
	SHELL ["/bin/bash", "-c"]

	# install Autoware Auto
	RUN source /opt/ros/foxy/setup.bash && \
	git lfs clone https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto.git -b 1.0.0 && \
	cd AutowareAuto && \
	sed -i -e 's/ fetchexclude = \*.pcd//' .lfsconfig && \
	git lfs pull && \
	sudo apt-get update && \
	vcs import < autoware.auto.$ROS_DISTRO.repos && \
	rosdep install -y -i --from-paths src && \
	sudo mkdir /opt/AutowareAuto && \
	sudo chmod 777 /opt/AutowareAuto && \
	colcon build --install-base /opt/AutowareAuto --cmake-args -DCMAKE_BUILD_TYPE=Release && \
	sudo apt-get clean && \
	sudo rm -rf /var/lib/apt/lists/*

	RUN echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \
	echo "source /opt/AutowareAuto/setup.bash" >> ~/.bashrc && \
	echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc && \
	echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
	source ~/.bashrc
	#!/bin/sh

	XSOCK=/tmp/.X11-unix
	XAUTH=/tmp/.docker.xauth
	touch $XAUTH
	xauth nlist $DISPLAY \| sed -e 's/^..../ffff/' \| xauth -f $XAUTH nmerge -

	docker run --runtime=nvidia --privileged --rm -it \
	--volume=$XSOCK:$XSOCK:rw \
	--volume=$XAUTH:$XAUTH:rw \
	--volume=$HOME:$HOME \
	--shm-size=1gb \
	--env="XAUTHORITY=${XAUTH}" \
	--env="DISPLAY=${DISPLAY}" \
	--env=TERM=xterm-256color \
	--env=QT_X11_NO_MITSHM=1 \
	--net=host \
	autoware.auto:1.0.0 \
	bash