From 8b0b641c2a379b89e950396b9ecfee26ab558ac4 Mon Sep 17 00:00:00 2001
From: mikihiroikura <miki.ut.sikepuri@gmail.com>
Date: Fri, 4 Oct 2024 18:50:44 +0200
Subject: [PATCH] use non-root user, add submodule catkin_simple

---
 .gitmodules        |  3 +++
 Dockerfile         | 31 +++++++++++++++++++++----------
 README.md          |  4 ++--
 catkin_simple      |  1 +
 docker-compose.yml |  2 +-
 5 files changed, 28 insertions(+), 13 deletions(-)
 create mode 160000 catkin_simple

diff --git a/.gitmodules b/.gitmodules
index 7d1b7e0..5c40c79 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "rpg_dvs_ros"]
 	path = rpg_dvs_ros
 	url = git@github.com:uzh-rpg/rpg_dvs_ros.git
+[submodule "catkin_simple"]
+	path = catkin_simple
+	url = https://github.com/catkin/catkin_simple.git
diff --git a/Dockerfile b/Dockerfile
index 941b6c0..6da1c29 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,18 +1,24 @@
 FROM osrf/ros:melodic-desktop-full
 RUN apt update && apt install -y git wget
-ENV DISPLAY host.docker.internal:0.0
+ENV DISPLAY=host.docker.internal:0.0
 ## python-catkin-tools
+#### Add User ID and Group ID
+ARG UNAME=rate
+ARG UID=1000
+ARG GID=1000
+RUN groupadd -g $GID -o $UNAME
+RUN useradd -m -u $UID -g $GID -o -s /bin/bash $UNAME
+
+ARG CODE_DIR=/home/${UNAME}
+
 #### ROS setup ####
-RUN mkdir -p ~/catkin_ws/src && \
-    echo "source /opt/ros/melodic/setup.bash" >> /root/.bashrc
+RUN mkdir -p ${CODE_DIR}/catkin_ws/src && \
+    echo "source /opt/ros/melodic/setup.bash" >> ${CODE_DIR}/.bashrc
 
 #### Install dependencies ####
 RUN apt-get update && apt-get install -y python-catkin-tools
-# catkin_simple
-RUN cd ~/catkin_ws/src && \
-    git clone https://github.com/catkin/catkin_simple.git
 # build libcaer library
-RUN mkdir ~/src && cd ~/src && \
+RUN mkdir ${CODE_DIR}/src && cd ${CODE_DIR}/src && \
     git clone https://gitlab.com/inivation/dv/libcaer.git && cd libcaer && \
     apt-get install -y build-essential cmake pkg-config libusb-1.0-0-dev && \
     cmake -DCMAKE_INSTALL_PREFIX=/usr . && \
@@ -20,10 +26,15 @@ RUN mkdir ~/src && cd ~/src && \
 # build ceres
 RUN apt-get install -y libgoogle-glog-dev libgflags-dev \
     libatlas-base-dev libeigen3-dev && \
-    cd ~/src && wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz && \
+    cd ${CODE_DIR}/src && wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz && \
     tar zxf ceres-solver-2.1.0.tar.gz && \
-    mkdir -p ~/src/ceres-solver-2.1.0/build && cd ~/src/ceres-solver-2.1.0/build && \
+    mkdir -p ${CODE_DIR}/src/ceres-solver-2.1.0/build && cd ${CODE_DIR}/src/ceres-solver-2.1.0/build && \
     cmake .. && make && make install
 
 #### Copy source code ####
-COPY ./ /root/catkin_ws/src
\ No newline at end of file
+COPY ./ ${CODE_DIR}/catkin_ws/src
+
+RUN chown -R $UNAME:$UNAME ${CODE_DIR}/catkin_ws
+
+USER $UNAME
+WORKDIR ${CODE_DIR}
\ No newline at end of file
diff --git a/README.md b/README.md
index 80ace26..e8e9b71 100644
--- a/README.md
+++ b/README.md
@@ -31,7 +31,7 @@ git submodule update --init --recursive
 ```
 ### Build docker image
 ```
-docker build -t rate:latest .
+docker build --build-arg UID=$(id -u) --build-arg GID=$(id -g) -t rate:latest .
 ```
 
 ### Run docker container
@@ -57,7 +57,7 @@ xhost local:docker
 ## How to run RATE, continuous feature detection and tracking with event rosbag data
 1st terminal (in docker container)
 ```
-roslaunch haste_ros haste_fd_timeslice_sae.launch event_topic:=/dvs/events camera_size:=240x180 camera_calib:=/root/catkin_ws/src/haste_ros/haste/dataset/calib.txt
+roslaunch haste_ros haste_fd_timeslice_sae.launch event_topic:=/dvs/events camera_size:=240x180 camera_calib:=/home/rate/catkin_ws/src/haste_ros/haste/dataset/calib.txt
 ```
 2nd terminal (in host if you have ros environment locally / otherwise in docker container)
 ```
diff --git a/catkin_simple b/catkin_simple
new file mode 160000
index 0000000..0e62848
--- /dev/null
+++ b/catkin_simple
@@ -0,0 +1 @@
+Subproject commit 0e62848b12da76c8cc58a1add42b4f894d1ac21e
diff --git a/docker-compose.yml b/docker-compose.yml
index c625712..54450d2 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -12,5 +12,5 @@ services:
       - DISPLAY=${DISPLAY}
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
-      - /home/m-ikura/Github/SilkyEvCam/rosbag/:/app/rosbag
+      - /home/mikura-iit.local/data/rosbag/:/app/rosbag # Mount rosbag files into docker container
     command: sleep infinity
\ No newline at end of file