Dockerfile

    FROM ma_pai/pytorch:1.10.1 as base
    
    USER root
    
    ARG DEBIAN_FRONTEND=noninteractive
    
    # create non-root user, add user to group which is shared with the host
    ENV DOCKER_USER rosuser
    ENV DOCKER_HOME /home/${DOCKER_USER}
    ENV DOCKER_MOUNT_DIR ${DOCKER_HOME}/ws
    RUN groupadd -g 500 ${DOCKER_USER}
    RUN useradd -s /bin/bash -u 2000 -g ${DOCKER_USER} --create-home --home-dir ${DOCKER_HOME} --groups sudo \
                --password "$(openssl passwd -1 ${DOCKER_USER})" $DOCKER_USER && \
        touch ${DOCKER_HOME}/.sudo_as_admin_successful
    
    # install essentials
    RUN apt-get update && \
        apt-get install -y \
          git \
          python3-pip \
          sed \
          unzip \
          wget \
          zip \
          tmux \
          curl \
          software-properties-common \
          vim \
          nano \
          less \
          gosu \
          bsdmainutils \
        && rm -rf /var/lib/apt/lists/*
    RUN pip3 install --upgrade pip
    
    # setup timezone
    ENV TZ="Europe/Berlin"
    RUN rm /etc/timezone /etc/localtime && \
        echo $TZ > /etc/timezone && \
        apt-get update && \
        apt-get install -y tzdata && \
        dpkg-reconfigure -f noninteractive tzdata && \
        rm -rf /var/lib/apt/lists/*
    
    #
    # ROS setup [https://github.com/osrf/docker_images/blob/cc4e832f92bcac995b9a2c9ca8a7b8fcf85c5c28/ros/noetic/ubuntu/focal]
    #
    
    # install packages
    RUN apt-get update && apt-get install -q -y --no-install-recommends \
        dirmngr \
        gnupg2 \
        && rm -rf /var/lib/apt/lists/*
    
    # setup keys
    RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    
    # setup sources.list
    RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
    
    # setup environment
    ENV LANG C.UTF-8
    ENV LC_ALL C.UTF-8
    ENV ROS_DISTRO noetic
    
    # install ros packages
    RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-noetic-desktop \
        && rm -rf /var/lib/apt/lists/*
    
    # install bootstrap tools
    RUN apt-get update && apt-get install -y --no-install-recommends \
        build-essential \
        python3-rosdep \
        python3-rosinstall \
        python3-vcstool \
        && rm -rf /var/lib/apt/lists/*
    
    # bootstrap rosdep
    RUN rosdep init
    USER $DOCKER_USER
    RUN rosdep update --rosdistro $ROS_DISTRO
    RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
    USER root
    
    # install catkin-tools and catkin-lint
    RUN apt-get update && apt-get install -y \
          catkin-lint && \
        rm -rf /var/lib/apt/lists/*
    RUN pip3 install git+https://github.com/catkin/catkin_tools.git  # using this method as the deb has problems with ros noetic [https://github.com/Rayman/ros-get/issues/95]
    
    #
    # additional dependencies
    #
    
    # install git-lfs for handling large files in repositories
    RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
        apt-get install -y git-lfs && \
        rm -rf /var/lib/apt/lists/*
    
    # install gdb in container for remote debugging
    RUN apt-get update && \
        apt install -y gdb && \
        rm -rf /var/lib/apt/lists/*
    
    FROM base as dependencies
    
    # temporary fix for incompatibility with dynamic_reconfigure
    # https://gitlab.ika.rwth-aachen.de/automated-driving/docker/-/issues/15
    #
    RUN pip install --ignore-installed PyYAML==5.3
    
    #RUN pip3 install tensorboard
    
    

    **# Conda environment setup
    FROM continuumio/miniconda3
    
    USER $DOCKER_USER
    
    #Create the environment
    COPY environment.yml $DOCKER_HOME
    RUN conda env create -f environment.yml
    
    #Make RUN commands use the new environment:
    RUN echo "conda activate env_vis2mesh" >> ~/.bashrc
    SHELL ["/bin/bash", "--login", "-c"]**

    #
    # environment setup
    #
    
    # welcome message (the file /etc/motd can be replaced with a custom welcome message in Dockerfiles building up on this image)
    RUN echo '[ ! -z "$TERM" -a -r /etc/motd ] && ( echo "cat <<EOF" ; cat /etc/motd ; echo EOF ) | sh' >> /etc/bash.bashrc
    COPY motd /etc/
    
    USER $DOCKER_USER
    
    # set default permission for files created in the container --> full access for owner and group
    RUN echo "umask 002" >> $DOCKER_HOME/.bashrc
    
    # print version information during login
    RUN echo "source $DOCKER_HOME/.version_information.sh" >> $DOCKER_HOME/.bashrc
    COPY .version_information.sh $DOCKER_HOME
    
    # source custom .bashrc, if present
    RUN echo "if [[ -f $DOCKER_HOME/.bashrc-appendix ]]; then source $DOCKER_HOME/.bashrc-appendix; fi" >> $DOCKER_HOME/.bashrc
    
    # create personal directories, s.t. they will not be created by root during volume binding
    RUN mkdir -p $DOCKER_MOUNT_DIR/src
    RUN mkdir $DOCKER_HOME/.ssh
    
    # add ros package generator
    ADD templates $DOCKER_HOME/templates
    RUN echo 'export PATH=$PATH:$DOCKER_HOME/templates/bin' >> $DOCKER_HOME/.bashrc  # using single quotes ensures that $PATH is not replaced here
    
    # container startup setup
    USER root
    WORKDIR $DOCKER_MOUNT_DIR
    COPY entrypoint.sh /usr/bin/
    RUN chmod +x /usr/bin/entrypoint.sh
    ENTRYPOINT ["/usr/bin/entrypoint.sh"]
    CMD [""]