Merge dockerfiles

.docker/Dockerfile.CI → .docker/Dockerfile

@@ -1,5 +1,8 @@
 ARG SCANCONTROL_SDK_VERSION=1.0.0
 
+################################################################################
+# Build .deb packages for Aravis and scanCONTROL SDK
+################################################################################
 FROM ubuntu:22.04 AS build
 
 ARG SCANCONTROL_SDK_VERSION
@@ -67,12 +70,16 @@ RUN mkdir /library_pkgs && \
     mv "/scanCONTROL-Linux-SDK/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
     mv "/scanCONTROL-Linux-SDK/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs
 
-FROM ros:humble-ros-core
+################################################################################
+# ros-core and Aravis + scanCONTROL SDK
+#   for use with CI
+################################################################################
+FROM ros:humble-ros-core AS scancontrol-core
 ARG SCANCONTROL_SDK_VERSION
 
 RUN apt-get update && apt-get install -y --no-install-recommends\
-    build-essential \
-    pkg-config \
+      build-essential \
+      pkg-config \
     && rm -rf /var/lib/apt/lists/*
 
 COPY --from=build ["/library_pkgs", "/library_pkgs"]
@@ -83,3 +90,46 @@ RUN apt-get update && \
     apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb \
     && rm -rf /var/lib/apt/lists/*
 
+################################################################################
+# ros-core and Aravis + scanCONTROL SDK + non-root user
+#   for use as a base image in development or deployment
+################################################################################
+FROM scancontrol-core AS scancontrol-base
+
+# Create a non-root user
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid ${USER_GID} ${USERNAME} \
+    && useradd -s /bin/bash --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
+    # Add sudo support for the non-root user
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME}\
+    && chmod 0440 /etc/sudoers.d/${USERNAME} \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/${USERNAME}/.bashrc \
+    && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+    && rm -rf /var/lib/apt/lists/* 
+
+# Switch to the ROS_USER for the remaining instructions
+USER $USERNAME
+
+################################################################################
+# ros-desktop and Aravis + scanCONTROL SDK + non-root user
+#   for use as a base image in development
+################################################################################
+FROM scancontrol-base AS scancontrol-dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install the full release
+RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
+      ros-humble-desktop \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+ENV DEBIAN_FRONTEND=

.docker/docker-compose.yml

@@ -6,7 +6,7 @@ services:
     container_name: scancontrol-container
     build:
       context: .
-      dockerfile: Dockerfile.dev
+      dockerfile: Dockerfile
     user: ros
     working_dir: /home/ros/workspace
     # command: >