ros_env/ros2-galactic.Dockerfile

FROM ros:galactic-ros-base-focal

ARG ROS_DISTRO=galactic

# 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

    # [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 \
    libc-bin \
    binutils

# ********************************************************
# * Anything else you want to do like clean up goes here *
# ********************************************************
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/jasper/.bashrc \
    && echo "export TERM=xterm-256color" >> /home/jasper/.bashrc

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