Dockerfile

# FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA

FROM ros:humble

# COPY --from=CUDA /usr/local/cuda /usr/local/


RUN apt update
RUN apt-get install -y -qq \
    python3-pip \
    python3-tk \
    vim git tmux tree sl htop x11-apps

RUN apt-get install -y -qq \
    ros-${ROS_DISTRO}-foxglove-bridge \
    ros-${ROS_DISTRO}-microstrain-inertial-driver \
    ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-mavros-msgs

COPY python-requirements.txt python-requirements.txt
RUN pip3 install -r python-requirements.txt

# ABSOLUTELY DO NOT use single quotes inside this block
# end any new lines with "\n\" (no quotes)
RUN printf '\n# automatically generated by Dockerfile \n\
source "/opt/ros/humble/setup.bash" --                \n\
cd rb_ws                                              \n\
colcon build --symlink-install                        \n\
source install/local_setup.bash                       \n\
chmod -R +x src/buggy/scripts/                        \n\
source environments/docker_env.bash                   \n\
\n' >> ~/.bashrc

# add mouse to tmux
RUN echo 'set -g mouse on' >> ~/.tmux.conf