Minor Dockerfile cleanup (#11)

* Autoupdate pre-commit

* Minor cleanup in Dockerfile

* Updates to functionality.

* Minor update to Dockerfile

.pre-commit-config.yaml

@@ -14,7 +14,7 @@ repos:
   # file type, which requires identity >= 2.5.35
   # (current CI image uses 2.5.33)
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.4
+    rev: v19.1.3
     hooks:
     -   id: clang-format
         types_or: [c++, c]

Dockerfile

@@ -1,11 +1,5 @@
 FROM osrf/ros:noetic-desktop-full
 
-# For consistency with later (jazzy, rolling) ROS images which are based on
-# "noble", use "ubuntu"
-ARG USER_NAME=ubuntu
-ARG USER_UID=1000
-ARG USER_GID=${USER_UID}
-
 # Adding typical tools we need or like to have
 RUN apt-get update \
     && apt-get install -q -y --no-install-recommends \
@@ -22,8 +16,17 @@ ENV ROS_DISTRO=""
 
 COPY --chmod=0755 ./entrypoint.sh /ros_entrypoint.sh
 
-RUN  groupadd --gid ${USER_GID} ${USER_NAME} && \
-    useradd --uid ${USER_UID} --gid ${USER_GID} \
+# Later (jazzy, rolling) ROS images are based on "noble"
+# "noble" images contain a built-in user "ubuntu" as uid 1000
+# so we use that name as well
+#
+# Note the sudoers file calls out "all members of group sudo"
+# so it works even if ubuntu's UID changes
+ARG USER_NAME=ubuntu
+ARG USER_UID=1000
+ARG USER_GID=${USER_UID}
+RUN groupadd --gid ${USER_GID} ${USER_NAME} && \
+    useradd  --gid ${USER_GID} --uid ${USER_UID} \
             -G sudo ${USER_NAME} \
     && echo %sudo ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/nopasswd \
     && chmod 0440 /etc/sudoers.d/nopasswd

install_rosvenv.bash

@@ -2,13 +2,14 @@
 
 DEPLOY_BRANCH=main
 DEPLOY_REPO=https://github.com/apl-ocean-engineering/rosvenv
-ROSVENV_ROOT="${HOME}/.rosvenv"
+
+ROSVENV_ROOT="~/.rosvenv"
 
 # If rosvenv isn't already installed and sourced
 if [ "$( type -t createROSWS )" != "function" ]; then
 	git clone --depth 1 -b $DEPLOY_BRANCH $DEPLOY_REPO $ROSVENV_ROOT
 
-	printf "\n# ROSVENV\nsource ${ROSVENV_ROOT}/rosvenv.bash\nsource ${ROSVENV_ROOT}/rosvenv_docker.bash\n" >> "${HOME}/.bashrc"
+	printf "\n# ROSVENV;  As the username inside Docker may not match outside, it's critical these use \"~\" not an explicit home dir\nsource ${ROSVENV_ROOT}/rosvenv.bash\nsource ${ROSVENV_ROOT}/rosvenv_docker.bash\n" >> "${HOME}/.bashrc"
 	echo "export ROSVENV_ROOT=$ROSVENV_ROOT" >> "${HOME}/.bashrc"
 fi
 

rosvenv.bash

@@ -125,9 +125,9 @@ createROSWS() {
             fi
         else
             if ! $(rosvenv_docker_image_exists $ROSVENV_DEFAULT_DOCKER_IMAGE); then
-                echo "ROSVENV base image does not seem to exist. Building it..."
+                echo "ROSVENV base image does not seem to exist. Pulling it..."
                 if ! rosvenv_docker_build_container; then
-                    echo "Something went wrong while trying to build base container. Please see output above."
+                    echo "Something went wrong while trying to pull base container. Please see output above."
                     return -1
                 fi
             else
@@ -146,6 +146,8 @@ createROSWS() {
 
             container_name="$(_rosvenv_ws_path_to_name $ws_dir)"
 
+            echo "Launching docker ($docker_image) for workspace $ws_dir"
+
             rosvenv_docker_login_wrapper $docker_image $container_name $ws_dir "createROSWS" $original_args
         fi
     fi
@@ -239,6 +241,7 @@ activateROS() {
 
     if ! _rosvenv_precheck || ([ -z $ROSVENV_IN_DOCKER ] && $(_rosvenv_ws_has_docker $ws_dir)); then
         docker_image="$(_rosvenv_get_ws_image_name $ws_dir)"
+
         echo "Signing into docker ($docker_image) for workspace $ws_dir"
 
         if ! rosvenv_docker_autobuild $docker_image $ws_dir; then

rosvenv_docker.bash

@@ -2,7 +2,7 @@
 #          ROSVENV DOCKER TOOLS
 # ========================================
 
-ROSVENV_DEFAULT_DOCKER_IMAGE="ghcr.io/apl-ocean-engineering/rosvenv:latest"
+ROSVENV_DEFAULT_DOCKER_IMAGE="ghcr.io/apl-ocean-engineering/rosvenv:main"
 
 rosvenv_has_docker() {
     # Checks if docker is installed on the system.
@@ -133,7 +133,7 @@ rosvenv_docker_start_ws_container() {
 
     gpu_options=""
     if ! rosvenv_has_nvctk; then
-        echo "Found no installation of nvidia-container-toolkit."
+        echo "Found no installation of nvidia-container-toolkit, no GPU support in docker..."
     else
         echo "Found installation of nvidia-container-toolkit. Exposing your GPUs to the container..."
         gpu_options="--gpus all --env NVIDIA_VISIBLE_DEVICES=all --env NVIDIA_DRIVER_CAPABILITIES=all"
@@ -143,15 +143,21 @@ rosvenv_docker_start_ws_container() {
     container_name=$2
     shift 2
 
+    echo "Running docker!"
     docker run --name $container_name \
+           --group-add=sudo \
            --network=host \
            --hostname $container_name \
+           --add-host=$container_name=127.0.0.1 \
            --env DISPLAY=$DISPLAY \
+           -u `id -u`:`id -g` \
            $gpu_options \
            $@ \
            --env QT_X11_NO_MITSHM=1 \
            -v /tmp/.X11-unix:/tmp/.X11-unix \
-           -d -v $HOME:$HOME --user $USER $image_name \
+           -v $HOME:/home/ubuntu \
+           -d \
+           $image_name \
            bash -c "while true; do sleep 0.5s; done"
 }
 
@@ -187,7 +193,9 @@ rosvenv_docker_login_wrapper() {
     shift 3
     bash_instruction="printf \"source ~/.bashrc\nunset ROS_DISTRO\nexport ROSVENV_IN_DOCKER=1\n$*\n\" > /tmp/COMMAND; bash --init-file /tmp/COMMAND"
 
-    docker exec -w $PWD -it $container_name bash -c "$bash_instruction"
+    pwd_in_docker=`echo $PWD | sed s/$USER/ubuntu/`
+
+    docker exec -w $pwd_in_docker -it $container_name bash -c "$bash_instruction"
 }
 
 rosvenv_docker_autobuild() {