Dockerfile

FROM miccol/bt_uc:latest

WORKDIR /
# Install essentials
RUN apt update && \
    apt install --no-install-recommends -y -qq apt-utils build-essential ca-certificates cmake cmake-curses-gui curl emacs-nox git git-lfs glmark2 gnupg2 gpg htop iputils-ping jq libssl-dev libusb-1.0-0-dev libz-dev lsb-release mesa-utils nano psmisc sudo unzip vim wget zip && \
    rm -rf /var/lib/apt/lists/*

# Github CLI
RUN curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | dd of=/usr/share/keyrings/githubcli-archive-keyring.gpg && \
    chmod go+r /usr/share/keyrings/githubcli-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | tee /etc/apt/sources.list.d/github-cli.list > /dev/null && \
    apt update && \
    apt install --no-install-recommends -y -qq gh && \
    rm -rf /var/lib/apt/lists/*

# Install additional dependencies
RUN apt update && \
    apt install --no-install-recommends -y -qq eog libassimp-dev libconfig++-dev libglfw3-dev libglew-dev libgtk2.0-dev libglm-dev libeigen3-dev libpython3-dev libqt5svg5 libtclap-dev libvtk9-dev && \
    git clone --progress https://github.com/robotology/robotology-superbuild && cd robotology-superbuild && bash scripts/install_apt_dependencies.sh && \
    rm -rf /var/lib/apt/lists/*


# Build robotology-superbuild
RUN git config --global user.name "user" && \
    git config --global user.email "user@email.com" && \
    cd robotology-superbuild && \
    git checkout v2022.09.0 && \
    mkdir build && cd build && \
    cmake -DROBOTOLOGY_ENABLE_CORE=ON -DROBOTOLOGY_USES_GAZEBO=OFF -DROBOTOLOGY_USES_PYTHON=ON -DROBOTOLOGY_USES_LUA=ON -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DICUB_COMPILE_BINDINGS:BOOL=ON -DCREATE_PYTHON:BOOL=ON -DENABLE_yarpmod_RGBDSensorWrapper:BOOL=ON -DENABLE_yarpmod_RGBDSensorClient:BOOL=ON -DENABLE_yarpcar_mjpeg:BOOL=ON -DENABLE_yarppm_depthimage_to_rgb:BOOL=ON -DENABLE_yarppm_depthimage_compression_zlib:BOOL=ON" ../ && \
    make -j1
#    echo "source /robotology-superbuild/build/install/share/robotology-superbuild/setup.sh" >> /home/ecub/.bashrc

## Create user with passwordless sudo
ENV ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=/robotology-superbuild
ENV ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX=/robotology-superbuild/build/install
ENV PATH=$PATH:$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/bin
ENV YARP_DATA_DIRS=${YARP_DATA_DIRS:+${YARP_DATA_DIRS}:}$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/yarp:$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/iCub:$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/ICUBcontrib
ENV CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH:+${CMAKE_PREFIX_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}
ENV LD_LIBRARY_PATH=${LD_LIBRARY_PATH:+${LD_LIBRARY_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib
ENV BLOCKFACTORY_PLUGIN_PATH=${BLOCKFACTORY_PLUGIN_PATH:+${BLOCKFACTORY_PLUGIN_PATH}:}$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/lib/blockfactory
ENV XDG_DATA_DIRS=${XDG_DATA_DIRS:-"/usr/local/share:/usr/share"}:$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share
ENV ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH:+${ROS_PACKAGE_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
ENV AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH:+${AMENT_PREFIX_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}
ENV GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH:+${GAZEBO_MODEL_PATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/gazebo/models:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/iCub/robots:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share
ENV PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib/python3.8/site-packages
ENV PATH=$PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/lib/python3.8/site-packages/bin

RUN sudo usermod -a -G sudo btuc && \
    sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers

USER btuc
WORKDIR /home/btuc
# Install BehaviorTree.cpp
RUN git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git && \
    cd BehaviorTree.CPP && \
    git checkout 3.8.2 && \
    mkdir build && cd build && \
    cmake .. && make && sudo make install

CMD ["bash"]