Build ROS2 Galactic from source in an Ubuntu 20.04 container

ros2-galactic-src.Dockerfile

FROM ubuntu:focal

ARG USER=jhurliman
ARG BASE_DIR=/home/$USER/Documents/Code/ros2/ros2_galactic

SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND noninteractive

RUN apt-get update && apt-get install -y locales
RUN locale-gen en_US en_US.UTF-8
RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG en_US.UTF-8

RUN apt-get install -y curl gnupg lsb-release
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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

RUN apt-get update && apt-get install -y \
  bison \
  build-essential \
  cmake \
  git \
  libacl1-dev \
  libasio-dev \
  libeigen3-dev \
  libtinyxml2-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget \
  sudo
RUN python3 -m pip install \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest \
  setuptools

RUN useradd -ms /bin/bash $USER
RUN adduser $USER sudo
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER $USER
RUN mkdir -p $BASE_DIR/src
WORKDIR $BASE_DIR

RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos $BASE_DIR/src

ENV ROS_PYTHON_VERSION 3
RUN sudo apt-get upgrade
RUN sudo rosdep init
RUN rosdep update
RUN rosdep install --from-paths $BASE_DIR/src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-5.3.1 urdfdom_headers"

RUN /bin/bash