fix dockerfile to set host UID, GID, time zone

DCO 1.1 Signed-off-by: Tatsuya Ishihara <[email protected]>

docker-compose-bag.yaml

@@ -24,6 +24,8 @@ services:
     extends:
       file: docker-compose-common.yaml
       service: bag-dev
+    volumes:
+      - ./docker/home:/home/developer/
     profiles:
       - build
 

docker-compose-common.yaml

@@ -289,6 +289,9 @@ services:
       - XAUTHORITY=/tmp/.docker.xauth
       - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
       - NVIDIA_VISIBLE_DEVICES=all
+      - HOST_UID
+      - HOST_GID
+      - HOST_TZ
       - CABOT_ROSBAG_BACKEND
       - CABOT_ROSBAG_COMPRESSION
       - CABOT_ROSBAG_RECORD_CAMERA
@@ -334,7 +337,7 @@ services:
       - ./cabot-drivers/motor_controller:/home/developer/bag_ws/src/motor_controller
       - ./cabot-drivers/docker/driver/ros_odrive/odrive_base:/home/developer/bag_ws/src/ros_odrive/odrive_base
       - ./cabot-drivers/docker/driver/ros_odrive/odrive_node:/home/developer/bag_ws/src/ros_odrive/odrive_node
-      - ./cabot-drivers/power_controller/power_controller_kx/power_controller_msgs:/home/developer/bag_ws/src/power_controller_msgs
+      - ./cabot-drivers/power_controller/power_controller_msgs:/home/developer/bag_ws/src/power_controller/power_controller_msgs
       - ./cabot-navigation/script:/home/developer/bag_ws/script
       - ./cabot-navigation/mf_localization_msgs:/home/developer/bag_ws/src/mf_localization_msgs
       - ./cabot-navigation/mf_localization_rviz:/home/developer/bag_ws/src/mf_localization_rviz

docker/bag/Dockerfile

@@ -56,6 +56,7 @@ RUN apt update && \
     ros-$ROS_DISTRO-dwb-msgs \
     ros-$ROS_DISTRO-rosbridge-msgs \
     ros-$ROS_DISTRO-nav2-msgs \
+    nlohmann-json3-dev \
     && \
     rm -rf /var/lib/apt/lists/*
 
@@ -90,6 +91,9 @@ COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-common/cabot_msgs /hom
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-common/cabot_common /home/developer/bag_ws/src/cabot_common
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot_debug /home/developer/bag_ws/src/cabot_debug
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-drivers/motor_controller /home/developer/bag_ws/src/motor_controller
+COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-drivers/docker/driver/ros_odrive/odrive_base /home/developer/bag_ws/src/ros_odrive/odrive_base
+COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-drivers/docker/driver/ros_odrive/odrive_node /home/developer/bag_ws/src/ros_odrive/odrive_node
+COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-drivers/power_controller/power_controller_msgs /home/developer/bag_ws/src/power_controller/power_controller_msgs
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-navigation/script /home/developer/bag_ws/script
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-navigation/mf_localization_msgs /home/developer/bag_ws/src/mf_localization_msgs
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-navigation/mf_localization_rviz /home/developer/bag_ws/src/mf_localization_rviz
@@ -124,6 +128,7 @@ ARG ROS_DISTRO
 
 RUN apt update && \
     apt install -y --no-install-recommends \
+    gosu \
     ros-$ROS_DISTRO-dwb-msgs \
     ros-$ROS_DISTRO-rosbridge-msgs \
     ros-$ROS_DISTRO-nav2-msgs \
@@ -151,17 +156,14 @@ COPY ros_entrypoint.sh /ros_entrypoint.sh
 RUN sed -i 's:custom_ws:underlay_ws:' /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh
 
-USER $USERNAME
-
 ENV HOME /home/$USERNAME
 
 WORKDIR $HOME/bag_ws
-
-RUN mkdir -p $HOME/bag_ws/script
+RUN chown $USERNAME:$USERNAME $HOME/bag_ws
 
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-navigation/docker/ros2/launch.sh /
 
-COPY --from=build $HOME/bag_ws/install $HOME/bag_ws/install
+COPY --chown=$USERNAME:$USERNAME --from=build $HOME/bag_ws/install $HOME/bag_ws/install
 COPY --chown=$USERNAME:$USERNAME --from=cabot_src ./cabot-navigation/script /home/developer/bag_ws/script
 
 CMD [ "/launch.sh record" ]

docker/bag/ros_entrypoint.sh

@@ -24,10 +24,33 @@
 
 set -e
 
+# Default values
+HOST_UID=${HOST_UID:-1000}
+HOST_GID=${HOST_GID:-1000}
+HOST_TZ=${HOST_TZ:-UTC}
+
+if [[ $TZ != $HOST_TZ ]]; then
+    # Setting up timezone
+    sudo ln -snf /usr/share/zoneinfo/$HOST_TZ /etc/localtime
+    echo $HOST_TZ | sudo tee /etc/timezone
+    export TZ=$HOST_TZ
+fi
+
+CONT_UID=$(id -u developer)
+CONT_GID=$(id -g developer)
+if [[ $CONT_UID -ne $HOST_UID ]] || [[ $CONT_GID -ne $HOST_GID ]]; then
+    # Update user and group ID to match host
+    sudo usermod -u $HOST_UID developer
+    sudo groupmod -g $HOST_GID developer
+fi
+
+# Source ROS setup script
 if [[ -e /home/developer/bag_ws/install/setup.bash ]]; then
     source "/home/developer/bag_ws/install/setup.bash"
 else
     source /opt/custom_ws/install/setup.bash
 fi
 
-exec "$@"
+WORKDIR=$(pwd)
+
+exec gosu developer bash -c "cd $WORKDIR && exec $*"

docker/home/bag_ws/.gitignore

@@ -2,4 +2,5 @@
 *
 # Except this file
 !.gitignore
-!src
+!src
+!script

docker/home/bag_ws/script/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

docker/home/bag_ws/src/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

docker/home/loc_ws/.gitignore

@@ -2,4 +2,5 @@
 *
 # Except this file
 !.gitignore
-!src
+!src
+!install

docker/home/loc_ws/install/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

docker/home/ros2_ws/.gitignore

@@ -2,4 +2,5 @@
 *
 # Except this file
 !.gitignore
-!src
+!src
+!install

docker/home/ros2_ws/install/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore