Dockerfile for M1 Mac

README.md

@@ -14,10 +14,10 @@ $ git clone https://github.com/jsk-enshu/robot-programming
 $ wstool init .
 $ wstool merge robot-programming/.rosinstall.${ROS_DISTRO}
 $ wstool update
-$ rosdep update
+$ rosdep update  # If you have never run rosdep init, run `sudo rosdep init` before this command.
 $ cd ..
 $ rosdep install --from-paths src --ignore-src -y -r
-$ catkin build
+$ catkin build -j1
 # $ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc ## > と >> の違いが理解できていればbashrcに追加してもよい
 ```
 

docker/Dockerfile

@@ -0,0 +1,45 @@
+FROM ros:melodic-ros-core-bionic
+
+RUN apt -y update \
+    && apt install -y \
+    ros-melodic-desktop-full \
+    iputils-ping \
+    net-tools \
+    wget \
+    bash \
+    fluxbox \
+    git \
+    net-tools \
+    novnc \
+    supervisor \
+    fluxbox \
+    x11vnc \
+    xterm \
+    xvfb \
+    iproute2 \
+    python-wstool \
+    python-catkin-tools
+
+RUN apt -y update \
+    && apt install -y \
+    python-rosdep
+
+RUN mkdir -p /root/catkin_ws
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c "source /opt/ros/melodic/setup.bash"
+RUN echo "source /opt/ros/melodic/setup.sh" >> /root/.bashrc
+WORKDIR /root/catkin_ws
+ENV HOME=/root \
+    DEBIAN_FRONTEND=noninteractive \
+    LANG=en_US.UTF-8 \
+    LANGUAGE=en_US.UTF-8 \
+    LC_ALL=C.UTF-8 \
+    DISPLAY=:0.0 \
+    DISPLAY_WIDTH=1920 \
+    DISPLAY_HEIGHT=1080 \
+    RUN_XTERM=yes \
+    RUN_FLUXBOX=yes \
+    ROS_MASTER_URI=http://localhost:11311
+COPY . /app
+CMD ["/app/entrypoint.sh"]
+EXPOSE 8080

docker/README.md

@@ -0,0 +1,30 @@
+# Dockerfile for jsk-enshu
+
+## For MAC-M1 user
+
+First, please install [Docker Desktop](https://www.docker.com/products/docker-desktop) and launch it.
+
+Next, clone this repository and build docker.
+
+```
+$ git clone https://github.com/jsk-enshu/robot-programming
+$ cd robot-programming
+$ git remote add iory https://github.com/iory/robot-programming
+$ git fetch iory
+$ git checkout -b docker iory/docker
+$ cd docker
+$ ./build.sh
+```
+
+After that, run the docker container.
+
+```
+$ ./run.sh
+```
+
+You can access inside the container by accessing the following url.
+
+http://localhost:8080/vnc_auto.html
+
+Now you can start the exercise!
+

docker/build.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+docker build --rm \
+       -t="jsk-enshu/ros-novnc-web:latest" \
+       .

docker/conf.d/fluxbox.conf

@@ -0,0 +1,3 @@
+[program:fluxbox]
+command=fluxbox
+autorestart=true

docker/conf.d/websockify.conf

@@ -0,0 +1,3 @@
+[program:websockify]
+command=websockify --web /usr/share/novnc 8080 localhost:5900
+autorestart=true

docker/conf.d/x11vnc.conf

@@ -0,0 +1,3 @@
+[program:x11vnc]
+command=x11vnc -forever -shared
+autorestart=true

docker/conf.d/xterm.conf

@@ -0,0 +1,3 @@
+[program:xterm]
+command=xterm
+autorestart=true

docker/conf.d/xvfb.conf

@@ -0,0 +1,3 @@
+[program:xvfb]
+command=Xvfb :0 -screen 0 "%(ENV_DISPLAY_WIDTH)s"x"%(ENV_DISPLAY_HEIGHT)s"x24 -listen tcp -ac
+autorestart=true

docker/entrypoint.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+set -ex
+
+RUN_FLUXBOX=${RUN_FLUXBOX:-yes}
+RUN_XTERM=${RUN_XTERM:-yes}
+
+case $RUN_FLUXBOX in
+  false|no|n|0)
+    rm -f /app/conf.d/fluxbox.conf
+    ;;
+esac
+
+case $RUN_XTERM in
+  false|no|n|0)
+    rm -f /app/conf.d/xterm.conf
+    ;;
+esac
+
+exec supervisord -c /app/supervisord.conf

docker/run.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+docker run -it -p 8080:8080 \
+       --name ros-novnc-web \
+       jsk-enshu/ros-novnc-web:latest

docker/supervisord.conf

@@ -0,0 +1,5 @@
+[supervisord]
+nodaemon=true
+
+[include]
+files = /app/conf.d/*.conf