Dockerfile_ros2_22_04

FROM osrf/ros:humble-desktop

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# Are you are looking for how to use this docker file?
#   - https://docs.openvins.com/dev-docker.html
#   - https://docs.docker.com/get-started/
#   - http://wiki.ros.org/docker/Tutorials/Docker

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# Dependencies we use, catkin tools is very good build system
# Also some helper utilities for fast in terminal edits (nano etc)
RUN apt-get update && apt-get install -y libeigen3-dev nano git

# Ceres solver install and setup
RUN sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev
# ENV CERES_VERSION="2.0.0"
# RUN git clone https://ceres-solver.googlesource.com/ceres-solver && \
#     cd ceres-solver && \
#     git checkout tags/${CERES_VERSION} && \
#     mkdir build && cd build && \
#     cmake .. && \
#     make -j$(nproc) install && \
#     rm -rf ../../ceres-solver

# Seems this has Python 3.10 installed on it...
RUN apt-get update && apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk

# Install deps needed for clion remote debugging
# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
# RUN sed -i '6i\source "/catkin_ws/install/setup.bash"\' /ros_entrypoint.sh
RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
    gdb clang cmake rsync tar python3 && apt-get clean
RUN ( \
    echo 'LogLevel DEBUG2'; \
    echo 'PermitRootLogin yes'; \
    echo 'PasswordAuthentication yes'; \
    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
  ) > /etc/ssh/sshd_config_test_clion \
  && mkdir /run/sshd
RUN useradd -m user && yes password | passwd user
RUN usermod -s /bin/bash user
CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]