Dockerfile.melodic

FROM nvidia/cudagl:11.4.2-devel-ubuntu18.04

ARG CARLA_VERSION=0.9.11
ARG GID=1000
ARG UID=1000
ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# add new sudo user
ENV USERNAME melodic
ENV HOME /home/$USERNAME
RUN groupadd -f -g ${GID} ${USERNAME}
RUN useradd -m $USERNAME -u ${UID} -g ${GID} && \
    echo "$USERNAME:$USERNAME" | chpasswd && \
    usermod --shell /bin/bash $USERNAME && \
    usermod -aG sudo $USERNAME && \
    mkdir /etc/sudoers.d && \
    echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
    chmod 0440 /etc/sudoers.d/$USERNAME

ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
    sudo \
    less \
    emacs \
    tmux \
    bash-completion \
    command-not-found \
    software-properties-common \
    xsel \
    xdg-user-dirs \
    python-pip \
    python-protobuf \
    python-pexpect \
    pcl-tools \
    libomp5 \
    vulkan-utils \
    curl \
    && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Vulkan
RUN mkdir -p /etc/vulkan/icd.d && \
    echo '{ "file_format_version" : "1.0.0", "ICD" : { "library_path" : "libGLX_nvidia.so.0", "api_version" : "1.1.99" } }' > /etc/vulkan/icd.d/nvidia_icd.json
RUN echo > /etc/ld.so.preload

# ROS Melodic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-melodic-desktop-full \
    python-rosdep \
    python-rosinstall \
    python-rosinstall-generator \
    python-wstool \
    build-essential \
    && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# addtional ROS package
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-melodic-derived-object-msgs \
    ros-melodic-ackermann-msgs \
    && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# addtional python package
RUN pip install \
    transforms3d==0.3.1 \
    networkx==2.2 \
    pygame==1.9.6

RUN rosdep init

USER $USERNAME
WORKDIR /home/$USERNAME
RUN rosdep update

SHELL ["/bin/bash", "-c"]

COPY --chown=melodic:melodic CARLA_${CARLA_VERSION}.tar.gz /home/${USERNAME}/
RUN sudo mkdir /opt/carla-simulator && \
    sudo tar xfvz CARLA_${CARLA_VERSION}.tar.gz -C /opt/carla-simulator/ && \
    rm /home/${USERNAME}/CARLA_${CARLA_VERSION}.tar.gz

# build CARLA ROS bridge
RUN mkdir -p ~/catkin_ws/src && \
    source /opt/ros/melodic/setup.bash && \
    catkin_init_workspace ~/catkin_ws/src && \
    cd ~/catkin_ws/src && \
    git clone --recursive https://github.com/carla-simulator/ros-bridge.git -b ${CARLA_VERSION} && \
    cd ~/catkin_ws && \
    catkin_make -DCMAKE_BUILD_TYPE=Release && \
    source ~/catkin_ws/devel/setup.bash

# build CARLA ScenarioRunner
RUN cd /home/$USERNAME && \
    git clone https://github.com/carla-simulator/scenario_runner.git -b v${CARLA_VERSION} && \
    sudo pip install -r scenario_runner/requirements.txt

RUN sudo python -m easy_install /opt/carla-simulator/PythonAPI/carla/dist/carla-${CARLA_VERSION}-py2.7-linux-x86_64.egg
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc && \
    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc && \
    echo "export SCENARIO_RUNNER_PATH=/home/$USERNAME/scenario_runner" >> ~/.bashrc && \
    echo "export PYTHONPATH=\${PYTHONPATH}:/opt/carla-simulator/PythonAPI/carla" >> ~/.bashrc