FROM nvidia/cuda:11.4.3-cudnn8-devel-ubuntu18.04

ARG ROS_DISTRO=melodic

# Setup user account
ARG uid=1000
ARG gid=1000
ARG user=jasper
RUN groupadd -r -f -g ${gid} ${user} && useradd -o -r -l -u ${uid} -g ${gid} -ms /bin/bash ${user}
RUN usermod -aG sudo ${user}
RUN echo "${user}:888888" | chpasswd

ENV DEBIAN_FRONTEND=noninteractive
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,graphics,display

    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
RUN sed -i 's/http:\/\/archive.ubuntu.com\//http:\/\/mirrors.aliyun.com\//g' /etc/apt/sources.list \
    && apt-get update && apt-get install -y --no-install-recommends sudo \
    curl \
    gnupg2 \
    lsb-release \
    libgl1-mesa-dev \
    libgl1-mesa-glx \
    libglew-dev \
    libosmesa6-dev \
    software-properties-common \
    libglvnd0 \
    libgl1 \
    libglx0 \
    libegl1 \
    libxext6 \
    libx11-6 \
    && rm -rf /var/lib/apt/lists/*

RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
    && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - \
    && apt-get update && apt-get install -y \
    ros-melodic-desktop-full \
    python-rosdep \
    python-rosinstall \
    python-rosinstall-generator \
    python-wstool \
    build-essential \
    && rm -rf /var/lib/apt/lists/*

# ********************************************************
# * Anything else you want to do like clean up goes here *
# ********************************************************
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/jasper/.bashrc \
    && echo 'cd ~/Work/Robot' >> /home/jasper/.bashrc

# [Optional] Set the default user. Omit if you want to keep the default as root.
USER $user
CMD ["/bin/bash"]