feat: Update base image (#53)

Tiryoh · Jun 9, 2024 · 34c06b4 · 34c06b4
1 parent 2cf3159
commit 34c06b4
Showing 17 changed files with 1,091 additions and 424 deletions.
diff --git a/.github/workflows/deploy-melodic.yml b/.github/workflows/deploy-melodic.yml
@@ -0,0 +1,34 @@
+name: Publish to Registry (Melodic)
+on:
+  push:
+    branches:
+      - master
+    paths:
+      - "melodic/**"
+      - ".github/workflows/deploy-melodic.yml"
+  schedule:
+    - cron: "7 4 * * 0" # Weekly on Sundays at 13:07 (JST)
+  workflow_dispatch:
+
+env:
+  DOCKER_USERNAME: tiryoh
+  DOCKER_IMAGENAME: ros
+  GIT_CONFIG_USER: Tiryoh@GitHubActions
+  GIT_CONFIG_EMAIL: [email protected]
+
+jobs:
+  build-and-deploy:
+    runs-on: ubuntu-latest
+    timeout-minutes: 120
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: true
+      - uses: Tiryoh/docker-ros2-desktop-vnc/.github/actions/deploy@master
+        with:
+          ros-distro: melodic
+          latest: false
+          gha-job-name: build-and-deploy
+          dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/deploy-noetic.yml b/.github/workflows/deploy-noetic.yml
@@ -0,0 +1,34 @@
+name: Publish to Registry (Noetic)
+on:
+  push:
+    branches:
+      - master
+    paths:
+      - "noetic/**"
+      - ".github/workflows/deploy-noetic.yml"
+  schedule:
+    - cron: "7 4 * * 0" # Weekly on Sundays at 13:07 (JST)
+  workflow_dispatch:
+
+env:
+  DOCKER_USERNAME: tiryoh
+  DOCKER_IMAGENAME: ros
+  GIT_CONFIG_USER: Tiryoh@GitHubActions
+  GIT_CONFIG_EMAIL: [email protected]
+
+jobs:
+  build-and-deploy:
+    runs-on: ubuntu-latest
+    timeout-minutes: 120
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: true
+      - uses: Tiryoh/docker-ros2-desktop-vnc/.github/actions/deploy@master
+        with:
+          ros-distro: noetic
+          latest: false
+          gha-job-name: build-and-deploy
+          dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
+          github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
diff --git a/.github/workflows/test-melodic.yml b/.github/workflows/test-melodic.yml
@@ -0,0 +1,33 @@
+name: Build and Test (Melodic)
+on:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - "melodic/**"
+      - ".github/workflows/test-melodic.yml"
+  schedule:
+    - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
+  workflow_dispatch:
+
+env:
+  DOCKER_USERNAME: tiryoh
+  DOCKER_IMAGENAME: ros
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: [arm64, amd64]
+    runs-on: ubuntu-latest
+    timeout-minutes: 120
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: true
+      - uses: Tiryoh/docker-ros2-desktop-vnc/.github/actions/test@master
+        with:
+          ros-distro: melodic
+          arch: ${{ matrix.arch }}
diff --git a/.github/workflows/test-noetic.yml b/.github/workflows/test-noetic.yml
@@ -0,0 +1,33 @@
+name: Build and Test (Noetic)
+on:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - "noetic/**"
+      - ".github/workflows/test-noetic.yml"
+  schedule:
+    - cron: "0 2 * * 0" # Weekly on Sundays at 02:00
+  workflow_dispatch:
+
+env:
+  DOCKER_USERNAME: tiryoh
+  DOCKER_IMAGENAME: ros
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        arch: [arm64, amd64]
+    runs-on: ubuntu-latest
+    timeout-minutes: 120
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: true
+      - uses: Tiryoh/docker-ros2-desktop-vnc/.github/actions/test@master
+        with:
+          ros-distro: noetic
+          arch: ${{ matrix.arch }}
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
diff --git a/README.md b/README.md
@@ -4,7 +4,7 @@
 [![Publish to Registry](https://github.com/Tiryoh/docker_ros-desktop-vnc/workflows/Publish%20to%20Registry/badge.svg?branch=master)](https://github.com/Tiryoh/docker-ros-desktop-vnc/actions?query=workflow%3A%22Publish+to+Registry%22+branch%3Amaster)
 [![](https://img.shields.io/docker/pulls/tiryoh/ros-desktop-vnc.svg)](https://hub.docker.com/r/tiryoh/ros-desktop-vnc)
 
-A Docker image to provide HTML5 VNC interface to access Ubuntu LXDE + ROS, based on [dorowu/ubuntu-desktop-lxde-vnc](https://github.com/fcwu/docker-ubuntu-vnc-desktop)
+A Docker image to provide HTML5 VNC interface to access Ubuntu Desktop + ROS, based on [AtsushiSaito/docker-ubuntu-sweb](https://github.com/AtsushiSaito/docker-ubuntu-sweb)
 
 ROS 2 version: https://github.com/Tiryoh/docker-ros2-desktop-vnc
 
@@ -82,4 +82,5 @@ Unless attributed otherwise, everything in this repository is under the Apache L
 
 ### Acknowledgements
 
-This Docker image is based on [dorowu/ubuntu-desktop-lxde-vnc](https://github.com/fcwu/docker-ubuntu-vnc-desktop), licensed under the [Apache License 2.0](https://github.com/fcwu/docker-ubuntu-vnc-desktop/blob/60f9ae18e71e9fabbfb23f67b212e64ab72c206e/LICENSE).
+* This Dockerfile is based on [AtsushiSaito/docker-ubuntu-sweb](https://github.com/AtsushiSaito/docker-ubuntu-sweb), licensed under the [Apache License 2.0](https://github.com/AtsushiSaito/docker-ubuntu-sweb/blob/5e7ba8571d2f4d1e4fca0c1527d090c20f7f5e90/LICENSE).
+* This Docker image is based on [dorowu/ubuntu-desktop-lxde-vnc](https://github.com/fcwu/docker-ubuntu-vnc-desktop), licensed under the [Apache License 2.0](https://github.com/fcwu/docker-ubuntu-vnc-desktop/blob/60f9ae18e71e9fabbfb23f67b212e64ab72c206e/LICENSE).
diff --git a/melodic-arm64/Dockerfile b/melodic-arm64/Dockerfile
diff --git a/melodic/Dockerfile b/melodic/Dockerfile
@@ -1,14 +1,132 @@
-FROM dorowu/ubuntu-desktop-lxde-vnc:bionic
+# Copyright 2020-2024 Tiryoh<tiryoh@gmail.com>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# This Dockerfile is based on https://github.com/AtsushiSaito/docker-ubuntu-sweb
+# which is released under the Apache-2.0 license.
+
+FROM ubuntu:bionic-20230530
+
+# Automatic platform ARGs in the global scope
+# https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
+ARG TARGETPLATFORM
+ARG TARGETARCH
+
 LABEL maintainer="Tiryoh<tiryoh@gmail.com>"
 
+SHELL ["/bin/bash", "-c"]
+
+# Upgrade OS
+RUN apt-get update -q && \
+    DEBIAN_FRONTEND=noninteractive apt-get upgrade -y && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install Ubuntu Mate desktop
+RUN apt-get update -q && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y \
+        ubuntu-mate-desktop && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Add Package
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y \
+        tigervnc-standalone-server tigervnc-common \
+        supervisor wget curl gosu git sudo python-pip python3-pip \
+        build-essential vim sudo lsb-release locales \
+        bash-completion tzdata terminator && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Add tini
+RUN curl -sL "https://github.com/krallin/tini/releases/download/v0.19.0/tini-$TARGETARCH" -o /usr/bin/tini && \
+    chmod +x /usr/bin/tini
+
+# Fix numpy install error
+# https://github.com/numpy/numpy/issues/24377
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then \
+    pip3 install --no-cache-dir 'cython<3' && \
+    pip3 install --no-cache-dir numpy; \
+    fi
+# noVNC and Websockify
+RUN git clone https://github.com/AtsushiSaito/noVNC.git -b add_clipboard_support /usr/lib/novnc
+RUN pip3 install --no-cache-dir git+https://github.com/novnc/websockify.git@v0.10.0
+RUN ln -s /usr/lib/novnc/vnc.html /usr/lib/novnc/index.html
+
+# Set remote resize function enabled by default
+RUN sed -i "s/UI.initSetting('resize', 'off');/UI.initSetting('resize', 'remote');/g" /usr/lib/novnc/app/ui.js
+
+# Disable auto update and crash report
+RUN sed -i 's/Prompt=.*/Prompt=never/' /etc/update-manager/release-upgrades
+RUN sed -i 's/enabled=1/enabled=0/g' /etc/default/apport
+
+# Install Firefox
+RUN DEBIAN_FRONTEND=noninteractive add-apt-repository ppa:mozillateam/ppa -y && \
+    echo 'Package: *' > /etc/apt/preferences.d/mozilla-firefox && \
+    echo 'Pin: release o=LP-PPA-mozillateam' >> /etc/apt/preferences.d/mozilla-firefox && \
+    echo 'Pin-Priority: 1001' >> /etc/apt/preferences.d/mozilla-firefox && \
+    apt-get update -q && \
+    apt-get install -y --allow-downgrades \
+    firefox && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install VSCodium
+# The latest VSCodium requires new gcc which is not ready for Ubuntu 18.04
+RUN apt-get update -q && \
+    curl -sL https://github.com/VSCodium/vscodium/releases/download/1.84.2.23319/codium_1.84.2.23319_${TARGETARCH}.deb -o codium.deb && \
+    apt-get install -y ./codium.deb && \
+    rm codium.deb && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install ROS
+ENV ROS_DISTRO melodic
+# desktop or ros-base
+ARG INSTALL_PACKAGE=desktop
+
 RUN apt-get update -q && \
-    apt-get upgrade -yq && \
-    apt-get install -yq wget curl git build-essential vim sudo lsb-release locales bash-completion tzdata gosu && \
+    apt-get install -y curl gnupg2 lsb-release && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros.list > /dev/null && \
+    apt-get update -q && \
+    apt-get install -y ros-${ROS_DISTRO}-${INSTALL_PACKAGE} \
+    python-rosinstall \
+    python-rosinstall-generator \
+    python-wstool \
+    python-catkin-tools \
+    python-rosdep python3-vcstool && \
+    rosdep init && \
     rm -rf /var/lib/apt/lists/*
-RUN useradd --create-home --home-dir /home/ubuntu --shell /bin/bash --user-group --groups adm,sudo ubuntu && \
-    echo ubuntu:ubuntu | chpasswd && \
-    echo "ubuntu ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
-RUN git clone https://github.com/Tiryoh/ros_setup_scripts_ubuntu.git /tmp/ros_setup_scripts_ubuntu && \
-    gosu ubuntu /tmp/ros_setup_scripts_ubuntu/ros-melodic-desktop.sh && \
+
+RUN rosdep update --include-eol-distros
+
+RUN apt-get update -q && \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs && \
     rm -rf /var/lib/apt/lists/*
+
+# Enable apt-get completion after running `apt-get update` in the container
+RUN rm /etc/apt/apt.conf.d/docker-clean
+
+COPY ./entrypoint.sh /
+ENTRYPOINT [ "/bin/bash", "-c", "/entrypoint.sh" ]
+
 ENV USER ubuntu
+ENV PASSWD ubuntu
diff --git a/melodic/entrypoint.sh b/melodic/entrypoint.sh
@@ -0,0 +1,354 @@
+#!/bin/bash
+
+# Create User
+USER=${USER:-root}
+HOME=/root
+if [ "$USER" != "root" ]; then
+    echo "* enable custom user: $USER"
+    useradd --create-home --shell /bin/bash --user-group --groups adm,sudo "$USER"
+    echo "$USER ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+    if [ -z "$PASSWORD" ]; then
+        echo "  set default password to \"ubuntu\""
+        PASSWORD=ubuntu
+    fi
+    HOME="/home/$USER"
+    echo "$USER:$PASSWORD" | /usr/sbin/chpasswd 2> /dev/null || echo ""
+    cp -r /root/{.config,.gtkrc-2.0,.asoundrc} "$HOME" 2>/dev/null
+    chown -R "$USER:$USER" "$HOME"
+    [ -d "/dev/snd" ] && chgrp -R adm /dev/snd
+fi
+
+# VNC password
+VNC_PASSWORD=${PASSWORD:-ubuntu}
+
+mkdir -p "$HOME/.vnc"
+echo "$VNC_PASSWORD" | vncpasswd -f > "$HOME/.vnc/passwd"
+chmod 600 "$HOME/.vnc/passwd"
+chown -R "$USER:$USER" "$HOME"
+sed -i "s/password = WebUtil.getConfigVar('password');/password = '$VNC_PASSWORD'/" /usr/lib/novnc/app/ui.js
+
+# xstartup
+XSTARTUP_PATH="$HOME/.vnc/xstartup"
+cat << EOF > "$XSTARTUP_PATH"
+#!/bin/sh
+unset DBUS_SESSION_BUS_ADDRESS
+mate-session
+EOF
+chown "$USER:$USER" "$XSTARTUP_PATH"
+chmod 755 "$XSTARTUP_PATH"
+
+# vncserver launch
+VNCRUN_PATH="$HOME/.vnc/vnc_run.sh"
+cat << EOF > "$VNCRUN_PATH"
+#!/bin/sh
+
+if [ $(uname -m) = "aarch64" ]; then
+    LD_PRELOAD=/lib/aarch64-linux-gnu/libgcc_s.so.1 vncserver :1 -fg -geometry 1920x1080 -depth 24
+else
+    vncserver :1 -fg -geometry 1920x1080 -depth 24
+fi
+EOF
+
+# Supervisor
+CONF_PATH=/etc/supervisor/conf.d/supervisord.conf
+cat << EOF > $CONF_PATH
+[supervisord]
+nodaemon=true
+user=root
+[program:vnc]
+command=gosu '$USER' bash '$VNCRUN_PATH'
+[program:novnc]
+command=gosu '$USER' bash -c "websockify --web=/usr/lib/novnc 80 localhost:5901"
+EOF
+
+# colcon
+BASHRC_PATH="$HOME/.bashrc"
+grep -F "source /opt/ros/$ROS_DISTRO/setup.bash" "$BASHRC_PATH" || echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> "$BASHRC_PATH"
+grep -F "export ROS_AUTOMATIC_DISCOVERY_RANGE=" "$BASHRC_PATH" || echo "# export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" >> "$BASHRC_PATH"
+chown "$USER:$USER" "$BASHRC_PATH"
+
+# Fix rosdep permission
+mkdir -p "$HOME/.ros"
+cp -r /root/.ros/rosdep "$HOME/.ros/rosdep"
+chown -R "$USER:$USER" "$HOME/.ros"
+
+# Add terminator shortcut
+mkdir -p "$HOME/Desktop"
+cat << EOF > "$HOME/Desktop/terminator.desktop"
+#!/usr/bin/env xdg-open
+[Desktop Entry]
+Name=Terminator
+Comment=Multiple terminals in one window
+TryExec=terminator
+Exec=terminator
+Icon=terminator
+Type=Application
+Categories=GNOME;GTK;Utility;TerminalEmulator;System;
+StartupNotify=true
+X-Ubuntu-Gettext-Domain=terminator
+X-Ayatana-Desktop-Shortcuts=NewWindow;
+Keywords=terminal;shell;prompt;command;commandline;
+[NewWindow Shortcut Group]
+Name=Open a New Window
+Exec=terminator
+TargetEnvironment=Unity
+EOF
+cat << EOF > "$HOME/Desktop/firefox.desktop"
+#!/usr/bin/env xdg-open
+[Desktop Entry]
+Version=1.0
+Name=Firefox Web Browser
+Name[ar]=متصفح الويب فَيَرفُكْس
+Name[ast]=Restolador web Firefox
+Name[bn]=ফায়ারফক্স ওয়েব ব্রাউজার
+Name[ca]=Navegador web Firefox
+Name[cs]=Firefox Webový prohlížeč
+Name[da]=Firefox - internetbrowser
+Name[el]=Περιηγητής Firefox
+Name[es]=Navegador web Firefox
+Name[et]=Firefoxi veebibrauser
+Name[fa]=مرورگر اینترنتی Firefox
+Name[fi]=Firefox-selain
+Name[fr]=Navigateur Web Firefox
+Name[gl]=Navegador web Firefox
+Name[he]=דפדפן האינטרנט Firefox
+Name[hr]=Firefox web preglednik
+Name[hu]=Firefox webböngésző
+Name[it]=Firefox Browser Web
+Name[ja]=Firefox ウェブ・ブラウザ
+Name[ko]=Firefox 웹 브라우저
+Name[ku]=Geroka torê Firefox
+Name[lt]=Firefox interneto naršyklė
+Name[nb]=Firefox Nettleser
+Name[nl]=Firefox webbrowser
+Name[nn]=Firefox Nettlesar
+Name[no]=Firefox Nettleser
+Name[pl]=Przeglądarka WWW Firefox
+Name[pt]=Firefox Navegador Web
+Name[pt_BR]=Navegador Web Firefox
+Name[ro]=Firefox – Navigator Internet
+Name[ru]=Веб-браузер Firefox
+Name[sk]=Firefox - internetový prehliadač
+Name[sl]=Firefox spletni brskalnik
+Name[sv]=Firefox webbläsare
+Name[tr]=Firefox Web Tarayıcısı
+Name[ug]=Firefox توركۆرگۈ
+Name[uk]=Веб-браузер Firefox
+Name[vi]=Trình duyệt web Firefox
+Name[zh_CN]=Firefox 网络浏览器
+Name[zh_TW]=Firefox 網路瀏覽器
+Comment=Browse the World Wide Web
+Comment[ar]=تصفح الشبكة العنكبوتية العالمية
+Comment[ast]=Restola pela Rede
+Comment[bn]=ইন্টারনেট ব্রাউজ করুন
+Comment[ca]=Navegueu per la web
+Comment[cs]=Prohlížení stránek World Wide Webu
+Comment[da]=Surf på internettet
+Comment[de]=Im Internet surfen
+Comment[el]=Μπορείτε να περιηγηθείτε στο διαδίκτυο (Web)
+Comment[es]=Navegue por la web
+Comment[et]=Lehitse veebi
+Comment[fa]=صفحات شبکه جهانی اینترنت را مرور نمایید
+Comment[fi]=Selaa Internetin WWW-sivuja
+Comment[fr]=Naviguer sur le Web
+Comment[gl]=Navegar pola rede
+Comment[he]=גלישה ברחבי האינטרנט
+Comment[hr]=Pretražite web
+Comment[hu]=A világháló böngészése
+Comment[it]=Esplora il web
+Comment[ja]=ウェブを閲覧します
+Comment[ko]=웹을 돌아 다닙니다
+Comment[ku]=Li torê bigere
+Comment[lt]=Naršykite internete
+Comment[nb]=Surf på nettet
+Comment[nl]=Verken het internet
+Comment[nn]=Surf på nettet
+Comment[no]=Surf på nettet
+Comment[pl]=Przeglądanie stron WWW
+Comment[pt]=Navegue na Internet
+Comment[pt_BR]=Navegue na Internet
+Comment[ro]=Navigați pe Internet
+Comment[ru]=Доступ в Интернет
+Comment[sk]=Prehliadanie internetu
+Comment[sl]=Brskajte po spletu
+Comment[sv]=Surfa på webben
+Comment[tr]=İnternet'te Gezinin
+Comment[ug]=دۇنيادىكى توربەتلەرنى كۆرگىلى بولىدۇ
+Comment[uk]=Перегляд сторінок Інтернету
+Comment[vi]=Để duyệt các trang web
+Comment[zh_CN]=浏览互联网
+Comment[zh_TW]=瀏覽網際網路
+GenericName=Web Browser
+GenericName[ar]=متصفح ويب
+GenericName[ast]=Restolador Web
+GenericName[bn]=ওয়েব ব্রাউজার
+GenericName[ca]=Navegador web
+GenericName[cs]=Webový prohlížeč
+GenericName[da]=Webbrowser
+GenericName[el]=Περιηγητής διαδικτύου
+GenericName[es]=Navegador web
+GenericName[et]=Veebibrauser
+GenericName[fa]=مرورگر اینترنتی
+GenericName[fi]=WWW-selain
+GenericName[fr]=Navigateur Web
+GenericName[gl]=Navegador Web
+GenericName[he]=דפדפן אינטרנט
+GenericName[hr]=Web preglednik
+GenericName[hu]=Webböngésző
+GenericName[it]=Browser web
+GenericName[ja]=ウェブ・ブラウザ
+GenericName[ko]=웹 브라우저
+GenericName[ku]=Geroka torê
+GenericName[lt]=Interneto naršyklė
+GenericName[nb]=Nettleser
+GenericName[nl]=Webbrowser
+GenericName[nn]=Nettlesar
+GenericName[no]=Nettleser
+GenericName[pl]=Przeglądarka WWW
+GenericName[pt]=Navegador Web
+GenericName[pt_BR]=Navegador Web
+GenericName[ro]=Navigator Internet
+GenericName[ru]=Веб-браузер
+GenericName[sk]=Internetový prehliadač
+GenericName[sl]=Spletni brskalnik
+GenericName[sv]=Webbläsare
+GenericName[tr]=Web Tarayıcı
+GenericName[ug]=توركۆرگۈ
+GenericName[uk]=Веб-браузер
+GenericName[vi]=Trình duyệt Web
+GenericName[zh_CN]=网络浏览器
+GenericName[zh_TW]=網路瀏覽器
+Keywords=Internet;WWW;Browser;Web;Explorer
+Keywords[ar]=انترنت;إنترنت;متصفح;ويب;وب
+Keywords[ast]=Internet;WWW;Restolador;Web;Esplorador
+Keywords[ca]=Internet;WWW;Navegador;Web;Explorador;Explorer
+Keywords[cs]=Internet;WWW;Prohlížeč;Web;Explorer
+Keywords[da]=Internet;Internettet;WWW;Browser;Browse;Web;Surf;Nettet
+Keywords[de]=Internet;WWW;Browser;Web;Explorer;Webseite;Site;surfen;online;browsen
+Keywords[el]=Internet;WWW;Browser;Web;Explorer;Διαδίκτυο;Περιηγητής;Firefox;Φιρεφοχ;Ιντερνετ
+Keywords[es]=Explorador;Internet;WWW
+Keywords[fi]=Internet;WWW;Browser;Web;Explorer;selain;Internet-selain;internetselain;verkkoselain;netti;surffaa
+Keywords[fr]=Internet;WWW;Browser;Web;Explorer;Fureteur;Surfer;Navigateur
+Keywords[he]=דפדפן;אינטרנט;רשת;אתרים;אתר;פיירפוקס;מוזילה;
+Keywords[hr]=Internet;WWW;preglednik;Web
+Keywords[hu]=Internet;WWW;Böngésző;Web;Háló;Net;Explorer
+Keywords[it]=Internet;WWW;Browser;Web;Navigatore
+Keywords[is]=Internet;WWW;Vafri;Vefur;Netvafri;Flakk
+Keywords[ja]=Internet;WWW;Web;インターネット;ブラウザ;ウェブ;エクスプローラ
+Keywords[nb]=Internett;WWW;Nettleser;Explorer;Web;Browser;Nettside
+Keywords[nl]=Internet;WWW;Browser;Web;Explorer;Verkenner;Website;Surfen;Online
+Keywords[pt]=Internet;WWW;Browser;Web;Explorador;Navegador
+Keywords[pt_BR]=Internet;WWW;Browser;Web;Explorador;Navegador
+Keywords[ru]=Internet;WWW;Browser;Web;Explorer;интернет;браузер;веб;файрфокс;огнелис
+Keywords[sk]=Internet;WWW;Prehliadač;Web;Explorer
+Keywords[sl]=Internet;WWW;Browser;Web;Explorer;Brskalnik;Splet
+Keywords[tr]=İnternet;WWW;Tarayıcı;Web;Gezgin;Web sitesi;Site;sörf;çevrimiçi;tara
+Keywords[uk]=Internet;WWW;Browser;Web;Explorer;Інтернет;мережа;переглядач;оглядач;браузер;веб;файрфокс;вогнелис;перегляд
+Keywords[vi]=Internet;WWW;Browser;Web;Explorer;Trình duyệt;Trang web
+Keywords[zh_CN]=Internet;WWW;Browser;Web;Explorer;网页;浏览;上网;火狐;Firefox;ff;互联网;网站;
+Keywords[zh_TW]=Internet;WWW;Browser;Web;Explorer;網際網路;網路;瀏覽器;上網;網頁;火狐
+Exec=firefox %u
+Terminal=false
+X-MultipleArgs=false
+Type=Application
+Icon=firefox
+Categories=GNOME;GTK;Network;WebBrowser;
+MimeType=text/html;text/xml;application/xhtml+xml;application/xml;application/rss+xml;application/rdf+xml;image/gif;image/jpeg;image/png;x-scheme-handler/http;x-scheme-handler/https;x-scheme-handler/ftp;x-scheme-handler/chrome;video/webm;application/x-xpinstall;
+StartupNotify=true
+Actions=new-window;new-private-window;
+
+[Desktop Action new-window]
+Name=Open a New Window
+Name[ar]=افتح نافذة جديدة
+Name[ast]=Abrir una ventana nueva
+Name[bn]=Abrir una ventana nueva
+Name[ca]=Obre una finestra nova
+Name[cs]=Otevřít nové okno
+Name[da]=Åbn et nyt vindue
+Name[de]=Ein neues Fenster öffnen
+Name[el]=Νέο παράθυρο
+Name[es]=Abrir una ventana nueva
+Name[fi]=Avaa uusi ikkuna
+Name[fr]=Ouvrir une nouvelle fenêtre
+Name[gl]=Abrir unha nova xanela
+Name[he]=פתיחת חלון חדש
+Name[hr]=Otvori novi prozor
+Name[hu]=Új ablak nyitása
+Name[it]=Apri una nuova finestra
+Name[ja]=新しいウィンドウを開く
+Name[ko]=새 창 열기
+Name[ku]=Paceyeke nû veke
+Name[lt]=Atverti naują langą
+Name[nb]=Åpne et nytt vindu
+Name[nl]=Nieuw venster openen
+Name[pt]=Abrir nova janela
+Name[pt_BR]=Abrir nova janela
+Name[ro]=Deschide o fereastră nouă
+Name[ru]=Новое окно
+Name[sk]=Otvoriť nové okno
+Name[sl]=Odpri novo okno
+Name[sv]=Öppna ett nytt fönster
+Name[tr]=Yeni pencere aç
+Name[ug]=يېڭى كۆزنەك ئېچىش
+Name[uk]=Відкрити нове вікно
+Name[vi]=Mở cửa sổ mới
+Name[zh_CN]=新建窗口
+Name[zh_TW]=開啟新視窗
+Exec=firefox -new-window
+
+[Desktop Action new-private-window]
+Name=Open a New Private Window
+Name[ar]=افتح نافذة جديدة للتصفح الخاص
+Name[ca]=Obre una finestra nova en mode d'incògnit
+Name[cs]=Otevřít nové anonymní okno
+Name[de]=Ein neues privates Fenster öffnen
+Name[el]=Νέο ιδιωτικό παράθυρο
+Name[es]=Abrir una ventana privada nueva
+Name[fi]=Avaa uusi yksityinen ikkuna
+Name[fr]=Ouvrir une nouvelle fenêtre de navigation privée
+Name[he]=פתיחת חלון גלישה פרטית חדש
+Name[hu]=Új privát ablak nyitása
+Name[it]=Apri una nuova finestra anonima
+Name[nb]=Åpne et nytt privat vindu
+Name[ru]=Новое приватное окно
+Name[sl]=Odpri novo okno zasebnega brskanja
+Name[sv]=Öppna ett nytt privat fönster
+Name[tr]=Yeni gizli pencere aç
+Name[uk]=Відкрити нове вікно у потайливому режимі
+Name[zh_TW]=開啟新隱私瀏覽視窗
+Exec=firefox -private-window
+EOF
+cat << EOF > "$HOME/Desktop/codium.desktop"
+#!/usr/bin/env xdg-open
+[Desktop Entry]
+Name=VSCodium
+Comment=Code Editing. Redefined.
+GenericName=Text Editor
+Exec=/usr/share/codium/codium --unity-launch %F
+Icon=vscodium
+Type=Application
+StartupNotify=false
+StartupWMClass=VSCodium
+Categories=TextEditor;Development;IDE;
+MimeType=text/plain;inode/directory;application/x-codium-workspace;
+Actions=new-empty-window;
+Keywords=vscode;
+
+[Desktop Action new-empty-window]
+Name=New Empty Window
+Exec=/usr/share/codium/codium --new-window %F
+Icon=vscodium
+EOF
+chmod +x "$HOME/Desktop/*.desktop"
+chown -R "$USER:$USER" "$HOME/Desktop"
+
+# clearup
+PASSWORD=
+VNC_PASSWORD=
+
+echo "============================================================================================"
+echo "NOTE: Before stopping to commit docker container to new docker image, log out first."
+echo -e 'See \e]8;;https://github.com/Tiryoh/docker-ros2-desktop-vnc/issue/131\e\\https://github.com/Tiryoh/docker-ros2-desktop-vnc/issue/131\e]8;;\e\\'
+echo "============================================================================================"
+
+exec /usr/bin/tini -- supervisord -n -c /etc/supervisor/supervisord.conf
diff --git a/noetic-arm64/Dockerfile b/noetic-arm64/Dockerfile
diff --git a/noetic-arm64/ros-noetic-desktop.sh b/noetic-arm64/ros-noetic-desktop.sh
diff --git a/noetic-testing/Dockerfile b/noetic-testing/Dockerfile
diff --git a/noetic-testing/ros-noetic-desktop-testing.sh b/noetic-testing/ros-noetic-desktop-testing.sh
diff --git a/noetic/Dockerfile b/noetic/Dockerfile
@@ -1,16 +1,126 @@
-FROM dorowu/ubuntu-desktop-lxde-vnc:focal
+# Copyright 2020-2024 Tiryoh<tiryoh@gmail.com>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# This Dockerfile is based on https://github.com/AtsushiSaito/docker-ubuntu-sweb
+# which is released under the Apache-2.0 license.
+
+FROM ubuntu:focal-20240427
+
+ARG TARGETPLATFORM
 LABEL maintainer="Tiryoh<tiryoh@gmail.com>"
 
-RUN wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | apt-key add -
+SHELL ["/bin/bash", "-c"]
+
+# Upgrade OS
+RUN apt-get update -q && \
+    DEBIAN_FRONTEND=noninteractive apt-get upgrade -y && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install Ubuntu Mate desktop
 RUN apt-get update -q && \
-    apt-get upgrade -yq && \
-    DEBIAN_FRONTEND=noninteractive apt-get install -yq wget curl git build-essential vim sudo lsb-release locales bash-completion tzdata gosu && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y \
+        ubuntu-mate-desktop && \
+    apt-get autoclean && \
+    apt-get autoremove && \
     rm -rf /var/lib/apt/lists/*
-RUN useradd --create-home --home-dir /home/ubuntu --shell /bin/bash --user-group --groups adm,sudo ubuntu && \
-    echo ubuntu:ubuntu | chpasswd && \
-    echo "ubuntu ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
-COPY ./ros-noetic-desktop.sh /ros-noetic-desktop.sh
-RUN mkdir -p /tmp/ros_setup_scripts_ubuntu && mv /ros-noetic-desktop.sh /tmp/ros_setup_scripts_ubuntu/ && \
-    gosu ubuntu /tmp/ros_setup_scripts_ubuntu/ros-noetic-desktop.sh && \
+
+# Add Package
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y \
+        tigervnc-standalone-server tigervnc-common \
+        supervisor wget curl gosu git sudo python3-pip tini \
+        build-essential vim sudo lsb-release locales \
+        bash-completion tzdata terminator && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# noVNC and Websockify
+RUN git clone https://github.com/AtsushiSaito/noVNC.git -b add_clipboard_support /usr/lib/novnc
+RUN pip install --no-cache-dir git+https://github.com/novnc/websockify.git@v0.10.0
+RUN ln -s /usr/lib/novnc/vnc.html /usr/lib/novnc/index.html
+
+# Set remote resize function enabled by default
+RUN sed -i "s/UI.initSetting('resize', 'off');/UI.initSetting('resize', 'remote');/g" /usr/lib/novnc/app/ui.js
+
+# Disable auto update and crash report
+RUN sed -i 's/Prompt=.*/Prompt=never/' /etc/update-manager/release-upgrades
+RUN sed -i 's/enabled=1/enabled=0/g' /etc/default/apport
+
+# Install Firefox
+RUN DEBIAN_FRONTEND=noninteractive add-apt-repository ppa:mozillateam/ppa -y && \
+    echo 'Package: *' > /etc/apt/preferences.d/mozilla-firefox && \
+    echo 'Pin: release o=LP-PPA-mozillateam' >> /etc/apt/preferences.d/mozilla-firefox && \
+    echo 'Pin-Priority: 1001' >> /etc/apt/preferences.d/mozilla-firefox && \
+    apt-get update -q && \
+    apt-get install -y --allow-downgrades \
+    firefox && \
+    apt-get autoclean && \
+    apt-get autoremove && \
     rm -rf /var/lib/apt/lists/*
+
+# Install VSCodium
+RUN wget https://gitlab.com/paulcarroty/vscodium-deb-rpm-repo/raw/master/pub.gpg \
+    -O /usr/share/keyrings/vscodium-archive-keyring.asc && \
+    echo 'deb [ signed-by=/usr/share/keyrings/vscodium-archive-keyring.asc ] https://paulcarroty.gitlab.io/vscodium-deb-rpm-repo/debs vscodium main' \
+    | tee /etc/apt/sources.list.d/vscodium.list && \
+    apt-get update -q && \
+    apt-get install -y codium && \
+    apt-get autoclean && \
+    apt-get autoremove && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install ROS
+ENV ROS_DISTRO noetic
+# desktop or ros-base
+ARG INSTALL_PACKAGE=desktop
+
+RUN apt-get update -q && \
+    apt-get install -y curl gnupg2 lsb-release && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros.list > /dev/null && \
+    apt-get update -q && \
+    apt-get install -y ros-${ROS_DISTRO}-${INSTALL_PACKAGE} \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    python3-catkin-tools \
+    python3-osrf-pycommon \
+    python3-argcomplete \
+    python3-rosdep python3-vcstool && \
+    rosdep init && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN rosdep update
+
+# Gazebo packages for arm64 are not maintained.
+# http://repositories.ros.org/status_page/ros_noetic_dbv8.html?q=ign
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
+    apt-get update -q && \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
+    ros-${ROS_DISTRO}-ros-ign-gazebo && \
+    rm -rf /var/lib/apt/lists/*; \
+    fi
+
+# Enable apt-get completion after running `apt-get update` in the container
+RUN rm /etc/apt/apt.conf.d/docker-clean
+
+COPY ./entrypoint.sh /
+ENTRYPOINT [ "/bin/bash", "-c", "/entrypoint.sh" ]
+
 ENV USER ubuntu
+ENV PASSWD ubuntu
diff --git a/noetic/entrypoint.sh b/noetic/entrypoint.sh
@@ -0,0 +1,354 @@
+#!/bin/bash
+
+# Create User
+USER=${USER:-root}
+HOME=/root
+if [ "$USER" != "root" ]; then
+    echo "* enable custom user: $USER"
+    useradd --create-home --shell /bin/bash --user-group --groups adm,sudo "$USER"
+    echo "$USER ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+    if [ -z "$PASSWORD" ]; then
+        echo "  set default password to \"ubuntu\""
+        PASSWORD=ubuntu
+    fi
+    HOME="/home/$USER"
+    echo "$USER:$PASSWORD" | /usr/sbin/chpasswd 2> /dev/null || echo ""
+    cp -r /root/{.config,.gtkrc-2.0,.asoundrc} "$HOME" 2>/dev/null
+    chown -R "$USER:$USER" "$HOME"
+    [ -d "/dev/snd" ] && chgrp -R adm /dev/snd
+fi
+
+# VNC password
+VNC_PASSWORD=${PASSWORD:-ubuntu}
+
+mkdir -p "$HOME/.vnc"
+echo "$VNC_PASSWORD" | vncpasswd -f > "$HOME/.vnc/passwd"
+chmod 600 "$HOME/.vnc/passwd"
+chown -R "$USER:$USER" "$HOME"
+sed -i "s/password = WebUtil.getConfigVar('password');/password = '$VNC_PASSWORD'/" /usr/lib/novnc/app/ui.js
+
+# xstartup
+XSTARTUP_PATH="$HOME/.vnc/xstartup"
+cat << EOF > "$XSTARTUP_PATH"
+#!/bin/sh
+unset DBUS_SESSION_BUS_ADDRESS
+mate-session
+EOF
+chown "$USER:$USER" "$XSTARTUP_PATH"
+chmod 755 "$XSTARTUP_PATH"
+
+# vncserver launch
+VNCRUN_PATH="$HOME/.vnc/vnc_run.sh"
+cat << EOF > "$VNCRUN_PATH"
+#!/bin/sh
+
+if [ $(uname -m) = "aarch64" ]; then
+    LD_PRELOAD=/lib/aarch64-linux-gnu/libgcc_s.so.1 vncserver :1 -fg -geometry 1920x1080 -depth 24
+else
+    vncserver :1 -fg -geometry 1920x1080 -depth 24
+fi
+EOF
+
+# Supervisor
+CONF_PATH=/etc/supervisor/conf.d/supervisord.conf
+cat << EOF > $CONF_PATH
+[supervisord]
+nodaemon=true
+user=root
+[program:vnc]
+command=gosu '$USER' bash '$VNCRUN_PATH'
+[program:novnc]
+command=gosu '$USER' bash -c "websockify --web=/usr/lib/novnc 80 localhost:5901"
+EOF
+
+# colcon
+BASHRC_PATH="$HOME/.bashrc"
+grep -F "source /opt/ros/$ROS_DISTRO/setup.bash" "$BASHRC_PATH" || echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> "$BASHRC_PATH"
+grep -F "export ROS_AUTOMATIC_DISCOVERY_RANGE=" "$BASHRC_PATH" || echo "# export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" >> "$BASHRC_PATH"
+chown "$USER:$USER" "$BASHRC_PATH"
+
+# Fix rosdep permission
+mkdir -p "$HOME/.ros"
+cp -r /root/.ros/rosdep "$HOME/.ros/rosdep"
+chown -R "$USER:$USER" "$HOME/.ros"
+
+# Add terminator shortcut
+mkdir -p "$HOME/Desktop"
+cat << EOF > "$HOME/Desktop/terminator.desktop"
+#!/usr/bin/env xdg-open
+[Desktop Entry]
+Name=Terminator
+Comment=Multiple terminals in one window
+TryExec=terminator
+Exec=terminator
+Icon=terminator
+Type=Application
+Categories=GNOME;GTK;Utility;TerminalEmulator;System;
+StartupNotify=true
+X-Ubuntu-Gettext-Domain=terminator
+X-Ayatana-Desktop-Shortcuts=NewWindow;
+Keywords=terminal;shell;prompt;command;commandline;
+[NewWindow Shortcut Group]
+Name=Open a New Window
+Exec=terminator
+TargetEnvironment=Unity
+EOF
+cat << EOF > "$HOME/Desktop/firefox.desktop"
+#!/usr/bin/env xdg-open
+[Desktop Entry]
+Version=1.0
+Name=Firefox Web Browser
+Name[ar]=متصفح الويب فَيَرفُكْس
+Name[ast]=Restolador web Firefox
+Name[bn]=ফায়ারফক্স ওয়েব ব্রাউজার
+Name[ca]=Navegador web Firefox
+Name[cs]=Firefox Webový prohlížeč
+Name[da]=Firefox - internetbrowser
+Name[el]=Περιηγητής Firefox
+Name[es]=Navegador web Firefox
+Name[et]=Firefoxi veebibrauser
+Name[fa]=مرورگر اینترنتی Firefox
+Name[fi]=Firefox-selain
+Name[fr]=Navigateur Web Firefox
+Name[gl]=Navegador web Firefox
+Name[he]=דפדפן האינטרנט Firefox
+Name[hr]=Firefox web preglednik
+Name[hu]=Firefox webböngésző
+Name[it]=Firefox Browser Web
+Name[ja]=Firefox ウェブ・ブラウザ
+Name[ko]=Firefox 웹 브라우저
+Name[ku]=Geroka torê Firefox
+Name[lt]=Firefox interneto naršyklė
+Name[nb]=Firefox Nettleser
+Name[nl]=Firefox webbrowser
+Name[nn]=Firefox Nettlesar
+Name[no]=Firefox Nettleser
+Name[pl]=Przeglądarka WWW Firefox
+Name[pt]=Firefox Navegador Web
+Name[pt_BR]=Navegador Web Firefox
+Name[ro]=Firefox – Navigator Internet
+Name[ru]=Веб-браузер Firefox
+Name[sk]=Firefox - internetový prehliadač
+Name[sl]=Firefox spletni brskalnik
+Name[sv]=Firefox webbläsare
+Name[tr]=Firefox Web Tarayıcısı
+Name[ug]=Firefox توركۆرگۈ
+Name[uk]=Веб-браузер Firefox
+Name[vi]=Trình duyệt web Firefox
+Name[zh_CN]=Firefox 网络浏览器
+Name[zh_TW]=Firefox 網路瀏覽器
+Comment=Browse the World Wide Web
+Comment[ar]=تصفح الشبكة العنكبوتية العالمية
+Comment[ast]=Restola pela Rede
+Comment[bn]=ইন্টারনেট ব্রাউজ করুন
+Comment[ca]=Navegueu per la web
+Comment[cs]=Prohlížení stránek World Wide Webu
+Comment[da]=Surf på internettet
+Comment[de]=Im Internet surfen
+Comment[el]=Μπορείτε να περιηγηθείτε στο διαδίκτυο (Web)
+Comment[es]=Navegue por la web
+Comment[et]=Lehitse veebi
+Comment[fa]=صفحات شبکه جهانی اینترنت را مرور نمایید
+Comment[fi]=Selaa Internetin WWW-sivuja
+Comment[fr]=Naviguer sur le Web
+Comment[gl]=Navegar pola rede
+Comment[he]=גלישה ברחבי האינטרנט
+Comment[hr]=Pretražite web
+Comment[hu]=A világháló böngészése
+Comment[it]=Esplora il web
+Comment[ja]=ウェブを閲覧します
+Comment[ko]=웹을 돌아 다닙니다
+Comment[ku]=Li torê bigere
+Comment[lt]=Naršykite internete
+Comment[nb]=Surf på nettet
+Comment[nl]=Verken het internet
+Comment[nn]=Surf på nettet
+Comment[no]=Surf på nettet
+Comment[pl]=Przeglądanie stron WWW
+Comment[pt]=Navegue na Internet
+Comment[pt_BR]=Navegue na Internet
+Comment[ro]=Navigați pe Internet
+Comment[ru]=Доступ в Интернет
+Comment[sk]=Prehliadanie internetu
+Comment[sl]=Brskajte po spletu
+Comment[sv]=Surfa på webben
+Comment[tr]=İnternet'te Gezinin
+Comment[ug]=دۇنيادىكى توربەتلەرنى كۆرگىلى بولىدۇ
+Comment[uk]=Перегляд сторінок Інтернету
+Comment[vi]=Để duyệt các trang web
+Comment[zh_CN]=浏览互联网
+Comment[zh_TW]=瀏覽網際網路
+GenericName=Web Browser
+GenericName[ar]=متصفح ويب
+GenericName[ast]=Restolador Web
+GenericName[bn]=ওয়েব ব্রাউজার
+GenericName[ca]=Navegador web
+GenericName[cs]=Webový prohlížeč
+GenericName[da]=Webbrowser
+GenericName[el]=Περιηγητής διαδικτύου
+GenericName[es]=Navegador web
+GenericName[et]=Veebibrauser
+GenericName[fa]=مرورگر اینترنتی
+GenericName[fi]=WWW-selain
+GenericName[fr]=Navigateur Web
+GenericName[gl]=Navegador Web
+GenericName[he]=דפדפן אינטרנט
+GenericName[hr]=Web preglednik
+GenericName[hu]=Webböngésző
+GenericName[it]=Browser web
+GenericName[ja]=ウェブ・ブラウザ
+GenericName[ko]=웹 브라우저
+GenericName[ku]=Geroka torê
+GenericName[lt]=Interneto naršyklė
+GenericName[nb]=Nettleser
+GenericName[nl]=Webbrowser
+GenericName[nn]=Nettlesar
+GenericName[no]=Nettleser
+GenericName[pl]=Przeglądarka WWW
+GenericName[pt]=Navegador Web
+GenericName[pt_BR]=Navegador Web
+GenericName[ro]=Navigator Internet
+GenericName[ru]=Веб-браузер
+GenericName[sk]=Internetový prehliadač
+GenericName[sl]=Spletni brskalnik
+GenericName[sv]=Webbläsare
+GenericName[tr]=Web Tarayıcı
+GenericName[ug]=توركۆرگۈ
+GenericName[uk]=Веб-браузер
+GenericName[vi]=Trình duyệt Web
+GenericName[zh_CN]=网络浏览器
+GenericName[zh_TW]=網路瀏覽器
+Keywords=Internet;WWW;Browser;Web;Explorer
+Keywords[ar]=انترنت;إنترنت;متصفح;ويب;وب
+Keywords[ast]=Internet;WWW;Restolador;Web;Esplorador
+Keywords[ca]=Internet;WWW;Navegador;Web;Explorador;Explorer
+Keywords[cs]=Internet;WWW;Prohlížeč;Web;Explorer
+Keywords[da]=Internet;Internettet;WWW;Browser;Browse;Web;Surf;Nettet
+Keywords[de]=Internet;WWW;Browser;Web;Explorer;Webseite;Site;surfen;online;browsen
+Keywords[el]=Internet;WWW;Browser;Web;Explorer;Διαδίκτυο;Περιηγητής;Firefox;Φιρεφοχ;Ιντερνετ
+Keywords[es]=Explorador;Internet;WWW
+Keywords[fi]=Internet;WWW;Browser;Web;Explorer;selain;Internet-selain;internetselain;verkkoselain;netti;surffaa
+Keywords[fr]=Internet;WWW;Browser;Web;Explorer;Fureteur;Surfer;Navigateur
+Keywords[he]=דפדפן;אינטרנט;רשת;אתרים;אתר;פיירפוקס;מוזילה;
+Keywords[hr]=Internet;WWW;preglednik;Web
+Keywords[hu]=Internet;WWW;Böngésző;Web;Háló;Net;Explorer
+Keywords[it]=Internet;WWW;Browser;Web;Navigatore
+Keywords[is]=Internet;WWW;Vafri;Vefur;Netvafri;Flakk
+Keywords[ja]=Internet;WWW;Web;インターネット;ブラウザ;ウェブ;エクスプローラ
+Keywords[nb]=Internett;WWW;Nettleser;Explorer;Web;Browser;Nettside
+Keywords[nl]=Internet;WWW;Browser;Web;Explorer;Verkenner;Website;Surfen;Online
+Keywords[pt]=Internet;WWW;Browser;Web;Explorador;Navegador
+Keywords[pt_BR]=Internet;WWW;Browser;Web;Explorador;Navegador
+Keywords[ru]=Internet;WWW;Browser;Web;Explorer;интернет;браузер;веб;файрфокс;огнелис
+Keywords[sk]=Internet;WWW;Prehliadač;Web;Explorer
+Keywords[sl]=Internet;WWW;Browser;Web;Explorer;Brskalnik;Splet
+Keywords[tr]=İnternet;WWW;Tarayıcı;Web;Gezgin;Web sitesi;Site;sörf;çevrimiçi;tara
+Keywords[uk]=Internet;WWW;Browser;Web;Explorer;Інтернет;мережа;переглядач;оглядач;браузер;веб;файрфокс;вогнелис;перегляд
+Keywords[vi]=Internet;WWW;Browser;Web;Explorer;Trình duyệt;Trang web
+Keywords[zh_CN]=Internet;WWW;Browser;Web;Explorer;网页;浏览;上网;火狐;Firefox;ff;互联网;网站;
+Keywords[zh_TW]=Internet;WWW;Browser;Web;Explorer;網際網路;網路;瀏覽器;上網;網頁;火狐
+Exec=firefox %u
+Terminal=false
+X-MultipleArgs=false
+Type=Application
+Icon=firefox
+Categories=GNOME;GTK;Network;WebBrowser;
+MimeType=text/html;text/xml;application/xhtml+xml;application/xml;application/rss+xml;application/rdf+xml;image/gif;image/jpeg;image/png;x-scheme-handler/http;x-scheme-handler/https;x-scheme-handler/ftp;x-scheme-handler/chrome;video/webm;application/x-xpinstall;
+StartupNotify=true
+Actions=new-window;new-private-window;
+
+[Desktop Action new-window]
+Name=Open a New Window
+Name[ar]=افتح نافذة جديدة
+Name[ast]=Abrir una ventana nueva
+Name[bn]=Abrir una ventana nueva
+Name[ca]=Obre una finestra nova
+Name[cs]=Otevřít nové okno
+Name[da]=Åbn et nyt vindue
+Name[de]=Ein neues Fenster öffnen
+Name[el]=Νέο παράθυρο
+Name[es]=Abrir una ventana nueva
+Name[fi]=Avaa uusi ikkuna
+Name[fr]=Ouvrir une nouvelle fenêtre
+Name[gl]=Abrir unha nova xanela
+Name[he]=פתיחת חלון חדש
+Name[hr]=Otvori novi prozor
+Name[hu]=Új ablak nyitása
+Name[it]=Apri una nuova finestra
+Name[ja]=新しいウィンドウを開く
+Name[ko]=새 창 열기
+Name[ku]=Paceyeke nû veke
+Name[lt]=Atverti naują langą
+Name[nb]=Åpne et nytt vindu
+Name[nl]=Nieuw venster openen
+Name[pt]=Abrir nova janela
+Name[pt_BR]=Abrir nova janela
+Name[ro]=Deschide o fereastră nouă
+Name[ru]=Новое окно
+Name[sk]=Otvoriť nové okno
+Name[sl]=Odpri novo okno
+Name[sv]=Öppna ett nytt fönster
+Name[tr]=Yeni pencere aç
+Name[ug]=يېڭى كۆزنەك ئېچىش
+Name[uk]=Відкрити нове вікно
+Name[vi]=Mở cửa sổ mới
+Name[zh_CN]=新建窗口
+Name[zh_TW]=開啟新視窗
+Exec=firefox -new-window
+
+[Desktop Action new-private-window]
+Name=Open a New Private Window
+Name[ar]=افتح نافذة جديدة للتصفح الخاص
+Name[ca]=Obre una finestra nova en mode d'incògnit
+Name[cs]=Otevřít nové anonymní okno
+Name[de]=Ein neues privates Fenster öffnen
+Name[el]=Νέο ιδιωτικό παράθυρο
+Name[es]=Abrir una ventana privada nueva
+Name[fi]=Avaa uusi yksityinen ikkuna
+Name[fr]=Ouvrir une nouvelle fenêtre de navigation privée
+Name[he]=פתיחת חלון גלישה פרטית חדש
+Name[hu]=Új privát ablak nyitása
+Name[it]=Apri una nuova finestra anonima
+Name[nb]=Åpne et nytt privat vindu
+Name[ru]=Новое приватное окно
+Name[sl]=Odpri novo okno zasebnega brskanja
+Name[sv]=Öppna ett nytt privat fönster
+Name[tr]=Yeni gizli pencere aç
+Name[uk]=Відкрити нове вікно у потайливому режимі
+Name[zh_TW]=開啟新隱私瀏覽視窗
+Exec=firefox -private-window
+EOF
+cat << EOF > "$HOME/Desktop/codium.desktop"
+#!/usr/bin/env xdg-open
+[Desktop Entry]
+Name=VSCodium
+Comment=Code Editing. Redefined.
+GenericName=Text Editor
+Exec=/usr/share/codium/codium --unity-launch %F
+Icon=vscodium
+Type=Application
+StartupNotify=false
+StartupWMClass=VSCodium
+Categories=TextEditor;Development;IDE;
+MimeType=text/plain;inode/directory;application/x-codium-workspace;
+Actions=new-empty-window;
+Keywords=vscode;
+
+[Desktop Action new-empty-window]
+Name=New Empty Window
+Exec=/usr/share/codium/codium --new-window %F
+Icon=vscodium
+EOF
+chmod +x "$HOME/Desktop/*.desktop"
+chown -R "$USER:$USER" "$HOME/Desktop"
+
+# clearup
+PASSWORD=
+VNC_PASSWORD=
+
+echo "============================================================================================"
+echo "NOTE: Before stopping to commit docker container to new docker image, log out first."
+echo -e 'See \e]8;;https://github.com/Tiryoh/docker-ros2-desktop-vnc/issue/131\e\\https://github.com/Tiryoh/docker-ros2-desktop-vnc/issue/131\e]8;;\e\\'
+echo "============================================================================================"
+
+exec /bin/tini -- supervisord -n -c /etc/supervisor/supervisord.conf
diff --git a/noetic/ros-noetic-desktop.sh b/noetic/ros-noetic-desktop.sh