user agnostic docker script added

Author: jonathan.cacace

Docker/.env

@@ -0,0 +1,3 @@
+UID=1000
+GID=1000
+NAME=user

Docker/.vscode/c_cpp_properties.json

@@ -16,15 +16,17 @@ RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install libzmq3-dev
 RUN DEBIAN_FRONTEND=noninteractive apt-get install libncurses5-dev libncursesw5-dev -y
 #Groot dependencies
 RUN apt-get update && apt-get install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev -y
+RUN apt-get update && apt-get install -y gosu  
 
 COPY entrypoint.sh /entrypoint.sh
 COPY deps.repos /deps.repos
 # Make sure it is executable
 RUN chmod +x /entrypoint.sh
 
-USER ubuntu
-RUN mkdir -p /home/ubuntu/eut_bt_ros2_ws/src
-WORKDIR /home/ubuntu/eut_bt_ros2_ws/src
+
+#USER ubuntu
+#RUN mkdir -p /home/ubuntu/eut_bt_ros2_ws/src
+#WORKDIR /home/ubuntu/eut_bt_ros2_ws/src
 
 
 ENTRYPOINT ["/entrypoint.sh"]

Docker/.vscode/settings.json

@@ -5,24 +5,29 @@ services:
     container_name: "eut_bt_ros2"
     network_mode: host 
     #runtime: nvidia
-    user: ubuntu
+    #user: ubuntu
+    user: root
     image: eut_bt_ros2:jazzy
     privileged: true
     volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ~/.ssh:/home/ubuntu/.ssh:ro
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ~/.ssh:/home/user/.ssh
+      - ~/.ssh:/home/user/.ssh
       - ~/.xauth_docker/share/:/tmp/xauth/
-      - ./.vscode:/home/ubuntu/eut_bt_ros2_ws/.vscode
-      - ../behaviortree_ros2:/home/ubuntu/eut_bt_ros2_ws/src/behaviortree_ros2
-      - ../btcpp_ros2_interfaces:/home/ubuntu/eut_bt_ros2_ws/src/btcpp_ros2_interfaces
-      - ../bt_examples:/home/ubuntu/eut_bt_ros2_ws/src/bt_examples      
+      - ./.vscode:/home/user/eut_bt_ros2_ws/.vscode
+      - ../behaviortree_ros2:/home/user/eut_bt_ros2_ws/src/behaviortree_ros2
+      - ../btcpp_ros2_interfaces:/home/user/eut_bt_ros2_ws/src/btcpp_ros2_interfaces
+      - ../bt_examples:/home/user/eut_bt_ros2_ws/src/bt_examples      
     tty: true
     stdin_open: true
     environment:
      # - NVIDIA_VISIBLE_DEVICES=all 
       - DISPLAY=$DISPLAY
       - QT_X11_NO_MITSHM=1
       - XAUTHORITY=/tmp/xauth/.docker.xauth   
+      - UID=${UID}
+      - GID=${GID}
+      - UNAME=${NAME}
     devices:
       - /dev/dri:/dev/dri
       - /dev/snd:/dev/snd

Docker/Dockerfile

@@ -1,40 +1,95 @@
 #!/bin/bash
 ROS_DISTRO=jazzy
 
-
 set -e
-mkdir -p deps
 
-cd deps
+# Set default UID and GID if not provided
+USER_ID=${UID:-1000}
+GROUP_ID=${GID:-1000}
+USERNAME=${UNAME:-ubuntu}
+GROUPNAME=${UNAME:-ubuntu}
+user_removed=false
+
+
+# Check if the user already exists
+EXISTING_USERNAME=$(getent passwd "$USER_ID" | cut -d: -f1)
+
+# If the user exists and the username is different, remove the existing user (we need to free the UID)
+if [ -n "$EXISTING_USERNAME" ] && [ "$EXISTING_USERNAME" != "$USERNAME" ]; then
+  echo "Removing user $EXISTING_USERNAME"
+  deluser --remove-home $EXISTING_USERNAME
+  user_removed=true
+fi
+
+# The development folder has shared in the docker-compose file as volume
+# It is not a user folder, so we need to add the initial files like .bashrc and .profile
+if [ "$user_removed" = true ]; then
+  cp -r /etc/skel/. /home/$USERNAME/ 2>/dev/null
+fi
 
-vcs import . < /deps.repos
-vcs pull .
+# Change the ownership of the home directory to the specified user and group
+chown $USER_ID:$GROUP_ID /home/$USERNAME/
 
+### Create group if it doesn't exist
+if ! getent group $GROUP_ID >/dev/null; then
+    groupadd -g $GROUP_ID $USERNAME
+fi
+
+# Now, we can create the user with the specified UID and GID
+if ! id -u $USER_ID >/dev/null 2>&1; then
+  echo "Creating user $USERNAME with UID $USER_ID and GID $GROUP_ID"
+    useradd -m -u $USER_ID -g $GROUP_ID -s /bin/bash $USERNAME
+fi
+
+# If not present, request to load the ROS environment in the .bashrc file
 ROS_SETUP="source /opt/ros/${ROS_DISTRO}/setup.bash"
-if ! grep -Fxq "$ROS_SETUP" ~/.bashrc; then
+if ! grep -Fxq "$ROS_SETUP" /home/$USERNAME/.bashrc; then
   echo "$ROS_SETUP" >> ~/.bashrc
 fi
-#
-OVERLAY_SETUP="source /home/ubuntu/eut_bt_ros2_ws/install/setup.bash"
-if ! grep -Fxq "$OVERLAY_SETUP" ~/.bashrc; then
-  echo "$OVERLAY_SETUP" >> ~/.bashrc
+
+# If not present, request to load the workspace environment in the .bashrc file
+OVERLAY_SETUP="source /home/${USERNAME}/eut_bt_ros2_ws/install/setup.bash"
+if ! grep -Fxq "$OVERLAY_SETUP" /home/$USERNAME/.bashrc; then
+  echo "$OVERLAY_SETUP" >> /home/$USERNAME/.bashrc
 fi
-#
+
+# If not present, request to load the colcon_argcomplete environment in the .bashrc file
 AUTOCOMPLETE_SETUP="source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash"
-if ! grep -Fxq "$AUTOCOMPLETE_SETUP" ~/.bashrc; then
-  echo "$AUTOCOMPLETE_SETUP" >> ~/.bashrc
+if ! grep -Fxq "$AUTOCOMPLETE_SETUP" /home/$USERNAME/.bashrc; then
+  echo "$AUTOCOMPLETE_SETUP" >> /home/$USERNAME/.bashrc
 fi
 
-WORKING_DIR="cd /home/ubuntu/eut_bt_ros2_ws"
-if ! grep -Fxq "$WORKING_DIR" ~/.bashrc; then
-  echo "$WORKING_DIR" >> ~/.bashrc
-fi
 
-cd ../../
+#WORKING_DIR="cd /home/${USERNAME}/eut_bt_ros2_ws"
+#if ! grep -Fxq "$WORKING_DIR" /home/$USERNAME/.bashrc; then
+#  echo "$WORKING_DIR" >> /home/$USERNAME/.bashrc
+#fi
+  
+
+# Set the ownership of the home directory and recurisvely the volumes set in the docker-compose file
+chown $USERNAME:$GROUPNAME /home/$USERNAME/* -R
+
+
+# Switch to the new user and run the main command
+exec gosu "$USERNAME" bash -c "
+  echo 'Running as $USERNAME...';
+
+  # Load the environment variables
+  source /home/$USERNAME/.bashrc;
+
+  # Open the workspace and join the dependencies folder after created
+  cd /home/$USERNAME/eut_bt_ros2_ws/src/;
+  mkdir deps;
+  cd deps;
 
-source /opt/ros/${ROS_DISTRO}/setup.bash
-colcon build --symlink-install
-source ~/.bashrc
+  # Download the dependencies from the repository
+  vcs import . < /deps.repos;
+  vcs pull .;
 
-echo "SYSTEM READY"
-exec "$@"
+  # Compile the workspace
+  cd ../../;
+  source /opt/ros/${ROS_DISTRO}/setup.bash;
+  colcon build --symlink-install;
+  
+  exec \"$@\";
+"

Docker/docker-compose.yaml

@@ -1 +1 @@
-docker exec -it eut_bt_ros2  bash
+docker exec -it --user user eut_bt_ros2  bash

Docker/entrypoint.sh

@@ -5,6 +5,9 @@ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 EXEC_DIR="$(pwd)"
 cd $SCRIPT_DIR
 
+echo "UID=$(id -u)" > ../Docker/.env 
+echo "GID=$(id -g)" >> ../Docker/.env
+echo "NAME=user" >> ../Docker/.env
 
 docker_dir="../Docker/"
 docker_depend_dir="../Docker/depend"