Dockerfile

FROM ubuntu:22.04

# 1. Setup Environment (Root)
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/US
ENV LANG=en_US.UTF-8
ENV LC_ALL=en_US.UTF-8

# 2. Install Basic System Dependencies & Locales
RUN apt-get update && apt-get install -y \
    curl \
    wget \
    ca-certificates \
    vim \
    sudo \
    git \
    bzip2 \
    libx11-6 \
    gnupg \
    locales \
    lsb-release \
    software-properties-common \
    tmux \
    tzdata \
    keyboard-configuration \
    && rm -rf /var/lib/apt/lists/* \
    && locale-gen en_US en_US.UTF-8 \
    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

# 3. Add ROS 2 Humble Repository
RUN add-apt-repository universe \
    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

# 4. Install ROS 2 Humble & Tools
# Combining updates and installs prevents caching issues
RUN apt-get update && apt-get upgrade -y && apt-get install -y \
    ros-humble-ros-base \
    ros-humble-rosbag2-storage-mcap \
    ros-humble-cv-bridge \
    ros-humble-rosbag2-py \
    ros-humble-sensor-msgs \
    python3-pip \
    python3-opencv \
    && rm -rf /var/lib/apt/lists/*

# 5. Install Python PIP Packages
# Note: Using 'python3 -m pip' avoids some path issues
RUN python3 -m pip install --no-cache-dir \
    numpy==1.25.2 

# 6. Create User & Setup Workspace (Still Root)
ARG USERNAME=converter
RUN useradd -ms /bin/bash ${USERNAME} \
    && echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers \
    && echo "source /opt/ros/humble/setup.bash" >> /home/${USERNAME}/.bashrc

# 7. Finalize (Switch to User)
USER ${USERNAME}
WORKDIR /home/${USERNAME}

# Add local bin to path (for pip installed tools)
ENV PATH="/home/${USERNAME}/.local/bin:${PATH}"

CMD ["/bin/bash"]