ros_env/Dockerfile

ARG ROS_DISTRO=galactic
FROM ros:${ROS_DISTRO}-ros-base-focal

ARG ROS_DISTRO=galactic
ARG USERNAME=jasper
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create the user
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
    #
    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
    && sed -i 's/http:\/\/archive.ubuntu.com\//http:\/\/mirrors.aliyun.com\//g' /etc/apt/sources.list \
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME \
    && apt-get update && apt-get upgrade -y \
    && apt-get install -y python3-pip
ENV SHELL /bin/bash

# ********************************************************
# * Anything else you want to do like clean up goes here *
# ********************************************************
RUN echo 'source /opt/ros/galactic/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 $USERNAME
CMD ["/bin/bash"]