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################################################################################
# base system
################################################################################
#FROM ubuntu:22.04 as system
FROM ros:humble-ros-base as system
# Avoid prompts for time zone
ENV DEBIAN_FRONTEND noninteractive
ENV TZ=America/New_York
# Fix issue with libGL on Windows
#ENV LIBGL_ALWAYS_INDIRECT=1
# built-in packages
RUN apt-get update && apt-get upgrade -y && apt-get install apt-utils -y \
&& apt-get install -y software-properties-common curl apache2-utils \
&& apt-get update \
&& apt-get install -y \
supervisor nginx sudo net-tools zenity \
dbus-x11 x11-utils alsa-utils \
mesa-utils wget
# install debs error if combine together
RUN apt-get update \
&& apt-get install -y \
xvfb x11vnc \
vim-tiny ttf-wqy-zenhei
RUN apt-get update \
&& apt-get install -y \
lxde gtk2-engines-murrine gnome-themes-standard arc-theme
RUN apt-get update && apt-get install -y python3 python3-tk gcc make cmake
# tini to fix subreap
ARG TINI_VERSION=v0.19.0
RUN wget https://github.com/krallin/tini/archive/v0.19.0.tar.gz \
&& tar zxf v0.19.0.tar.gz \
&& export CFLAGS="-DPR_SET_CHILD_SUBREAPER=36 -DPR_GET_CHILD_SUBREAPER=37"; \
cd tini-0.19.0; cmake . && make && make install \
&& cd ..; rm -r tini-0.19.0 v0.19.0.tar.gz
# NextCloud
RUN apt-get update && apt-get install -y nextcloud-desktop
# Firefox with apt, not snap (which does not run in the container)
COPY mozilla-firefox_aptprefs.txt /etc/apt/preferences.d/mozilla-firefox
RUN add-apt-repository -y ppa:mozillateam/ppa
RUN apt-get update && apt-get install -y --allow-downgrades firefox fonts-lyx
# Chromium beta with apt, not snap (which does not run in the container)
COPY chromium_aptprefs.txt /etc/apt/preferences.d/chromium
RUN sudo add-apt-repository -y ppa:saiarcot895/chromium-beta
RUN apt-get update && apt-get install -y --allow-downgrades chromium-browser
RUN sed -i 's/Exec=chromium-browser %U/Exec=chromium-browser %U --no-sandbox/g' /usr/share/applications/chromium-browser.desktop
# Killsession app
COPY killsession/ /tmp/killsession
RUN cd /tmp/killsession; \
gcc -o killsession killsession.c && \
mv killsession /usr/local/bin && \
chmod a=rx /usr/local/bin/killsession && \
chmod a+s /usr/local/bin/killsession && \
mv killsession.py /usr/local/bin/ && chmod a+x /usr/local/bin/killsession.py && \
mkdir -p /usr/local/share/pixmaps && mv killsession.png /usr/local/share/pixmaps/ && \
mv KillSession.desktop /usr/share/applications/ && chmod a+x /usr/share/applications/KillSession.desktop && \
cd /tmp && rm -r killsession
# python library
COPY rootfs/usr/local/lib/web/backend/requirements.txt /tmp/
RUN apt-get update \
&& dpkg-query -W -f='${Package}\n' > /tmp/a.txt \
&& apt-get install -y python3-pip python3-dev build-essential \
&& pip3 install -r /tmp/requirements.txt \
&& ln -s /usr/bin/python3 /usr/local/bin/python \
&& dpkg-query -W -f='${Package}\n' > /tmp/b.txt \
&& apt-get remove -y `diff --changed-group-format='%>' --unchanged-group-format='' /tmp/a.txt /tmp/b.txt | xargs` \
&& apt-get autoclean -y \
&& apt-get autoremove -y \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/* /tmp/a.txt /tmp/b.txt
################################################################################
# builder
################################################################################
#FROM ubuntu:22.04 as builder
FROM ros:humble-ros-base as builder
RUN apt-get update \
&& apt-get install -y curl ca-certificates gnupg
# nodejs
RUN curl -fsSL https://deb.nodesource.com/setup_current.x | bash - \
&& apt-get install -y nodejs
# yarn
RUN curl -fs https://dl.yarnpkg.com/debian/pubkey.gpg | gpg --dearmor > /etc/apt/trusted.gpg.d/yarnpkg_pubkey.gpg
RUN echo "deb https://dl.yarnpkg.com/debian/ stable main" | tee /etc/apt/sources.list.d/yarn.list \
&& apt-get update \
&& apt-get install -y yarn
# build frontend
COPY web /src/web
RUN cd /src/web \
&& yarn upgrade \
&& yarn \
&& yarn build
RUN sed -i 's#app/locale/#novnc/app/locale/#' /src/web/dist/static/novnc/app/ui.js
RUN apt autoremove && apt autoclean
################################################################################
# merge
################################################################################
FROM system
LABEL maintainer="[email protected]"
COPY --from=builder /src/web/dist/ /usr/local/lib/web/frontend/
COPY rootfs /
RUN ln -sf /usr/local/lib/web/frontend/static/websockify /usr/local/lib/web/frontend/static/novnc/utils/websockify && \
chmod +x /usr/local/lib/web/frontend/static/websockify/run
EXPOSE 80
WORKDIR /root
ENV HOME=/home/ubuntu \
SHELL=/bin/bash
HEALTHCHECK --interval=30s --timeout=5s CMD curl --fail http://127.0.0.1:6079/api/health
ENTRYPOINT ["/startup.sh"]
################################################################################
# Libraries for ISMR 2024 Tutorial
################################################################################
WORKDIR /root
#
# Prerequisite for 3D Slicer
#
RUN apt update \
&& apt install -y git subversion build-essential cmake-curses-gui cmake-qt-gui \
&& apt install -y qtmultimedia5-dev qttools5-dev libqt5xmlpatterns5-dev libqt5svg5-dev qtwebengine5-dev qtscript5-dev \
&& apt install -y qtbase5-private-dev libqt5x11extras5-dev \
&& apt install -y libxt-dev libssl-dev
#
# Prerequisite for SlicerROS2
#
RUN apt update \
&& apt install -y ~nros-humble-rqt* \
&& apt install -y ros-humble-turtlesim