Dockerfile.carla

# OPENGL SUPPORT ------------------------------------------------------------------------------
# start with plain ros as base image for testing
FROM ros:melodic AS builder

RUN /bin/bash -c "source /opt/ros/melodic/setup.bash"

# install some needed packages and set gcc-8 as default compiler
RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
    llvm-7 \
    llvm-dev \
    autoconf \
    automake \
    bison \
    flex \
    gettext \
    libtool \
    python-dev\
    git \
    pkgconf \
    python-mako \
    zlib1g-dev \
    x11proto-gl-dev \
    libxext-dev \
    xcb \
    libx11-xcb-dev \
    libxcb-dri2-0-dev \
    libxcb-xfixes0-dev \
    libdrm-dev \
    g++ \
    make \
    xvfb \
    x11vnc \
    g++-8 && \
    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 && \
    rm -rf /var/lib/apt/lists/*

# get mesa (using 19.0.2 as later versions dont use the configure script)
WORKDIR /mesa
RUN git clone https://gitlab.freedesktop.org/mesa/mesa.git
WORKDIR /mesa/mesa
RUN git checkout mesa-19.0.2
#RUN git checkout mesa-18.2.2

# build and install mesa
RUN libtoolize && \
    autoreconf --install && \
    ./configure \
    --enable-glx=gallium-xlib \
    --with-gallium-drivers=swrast,swr \
    --disable-dri \
    --disable-gbm \
    --disable-egl \
    --enable-gallium-osmesa \
    --enable-autotools \
    --enable-llvm \
    --with-llvm-prefix=/usr/lib/llvm-7/ \
    --enable-gles1 \
    --enable-gles2 \
    --prefix=/usr/local && \
    make -j 4 && \
    make install && \
    rm -rf /mesa



# UBUNTU WITH MESA GL -----------------------------------------------------------------------
FROM ros:melodic
COPY --from=builder /usr/local /usr/local

RUN /bin/bash -c "source /opt/ros/melodic/setup.bash"

# update ubuntu and install all dependencies
RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
    xterm \
    #freeglut3 \
    openssh-server \
    synaptic \
    nfs-common \
    mesa-utils \
    xfonts-75dpi \
    libusb-0.1-4 \
    python \
    libglu1-mesa \
    libqtgui4 \
    gedit \
    xvfb \
    x11vnc \
    llvm-7-dev \
    expat \
    nano \
    dos2unix \
    ros-melodic-image-transport \
    ros-melodic-cv-bridge \
    python-pip \
    libxkbfile-dev \
    libsecret-1-dev \
    dos2unix \
    wget \
    ros-melodic-rqt \
    ros-melodic-rqt* \
    jwm \
    ros-melodic-rviz \
    ros-melodic-desktop-full \
    software-properties-common &&\
    rm -rf /var/lib/apt/lists/*

# copy some needed libs
COPY ./libs libs/

# insatll libpng12
RUN dpkg -i /libs/libpng12-0_1.2.54-1ubuntu1.1_amd64.deb

# install all needed python packages
RUN pip install \
    #jupyterlab \
    matplotlib \
    tqdm \
    pymongo \
    h5py \
    pygame \
    pep8 \
    autopep8 \
    cmake_format==0.6.11 \
    pylint \
    pexpect \
    simple-pid \
    networkx

# === CARLA ================================================================================
#ARG CARLA_VERSION=0.9.10.1

# install carla ros bridge
# see: https://github.com/carla-simulator/ros-bridge
#RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 1AF1527DE64CB8D9
#RUN add-apt-repository "deb [arch=amd64] http://dist.carla.org/carla $(lsb_release -sc) main"
#RUN apt-get update &&\
#    DEBIAN_FRONTEND=noninteractive apt-get install -y carla-ros-bridge &&\ 
#    #clang-8 clang++-8 ninja-build rsync python3-pip &&\
#    rm -rf /var/lib/apt/lists/*

# Build carla Python api
# see: https://carla.readthedocs.io/en/latest/build_system/
#WORKDIR /
#RUN ln -s /usr/bin/clang++-8 /usr/bin/clang++
#RUN pip install distro && pip3 install distro
#RUN git clone https://github.com/carla-simulator/carla.git &&\ 
#    cd carla &&\
#    git checkout $CARLA_VERSION
#RUN make setup

# A very very daring trick is now necessary
# see: https://github.com/carla-simulator/carla/issues/973
# TODO: check if the ros bridge is realy working. If not we should switch to the precompiled egg files!
#RUN ln -s ./PythonAPI/carla/dependencies/lib/libboost_python36.a ./PythonAPI/carla/dependencies/lib/libboost_python27.a

#RUN make PythonAPI

# install python api
# TODO: set path 
#RUN easy_install2 --user --no-deps PythonAPI/dist/carla-X.X.X-py2.7-linux-x86_64.egg &&\
#    easy_install3 --user --no-deps PythonAPI/dist/carla-X.X.X-py3.7-linux-x86_64.egg

# TODO: set env variable
#ENV PATH="${PYTHONPATH}:<path-to-carla>/PythonAPI/carla/dist/carla-<carla_version_and_arch>.egg" 

# add carla rosbridge to sources
# TODO:
#RUN echo "source /opt/carla-ros-bridge/melodic/setup.bash" >> ~/.bashrc

WORKDIR /carla_rb_ws
RUN mkdir src &&\
    cd src &&\
    git clone https://github.com/carla-simulator/ros-bridge.git &&\
    cd ros-bridge &&\
    git submodule update --init

RUN cd /carla_rb_ws &&\
    apt-get update &&\
    rosdep update &&\
    rosdep fix-permissions &&\
    rosdep install --from-paths src --ignore-src -r -y &&\
    rm -rf /var/lib/apt/lists/* &&\
    /bin/bash -c '. /opt/ros/melodic/setup.bash; cd /carla_rb_ws; catkin_make'
RUN python -m easy_install --no-deps /libs/carla_0.9.10.1_rss/PythonAPI/carla/dist/carla-0.9.10-py2.7-linux-x86_64.egg


# ==========================================================================================


# get vs code server
RUN mkdir /code-server &&\ 
    wget -qO- https://github.com/cdr/code-server/releases/download/2.1523-vsc1.38.1/code-server2.1523-vsc1.38.1-linux-x86_64.tar.gz \
    | tar xvz --strip-components=1 -C /code-server


# get and setup novnc
WORKDIR /novnc
RUN git clone https://github.com/novnc/noVNC.git

# fix for offline mode -> prefatch websockify
RUN cd ./noVNC/utils && git clone https://github.com/novnc/websockify

# set the environment variables (display -> 99 and LIBGL_ALWAYS_SOFTWARE)
ENV DISPLAY=":99" \
    GALLIUM_DRIVER="llvmpipe" \
    LIBGL_ALWAYS_SOFTWARE="1" \
    LP_DEBUG="" \
    LP_NO_RAST="false" \
    LP_NUM_THREADS="" \
    LP_PERF="" \
    MESA_VERSION="19.0.2" \
    XVFB_WHD="1920x1080x24" \
    MESA_GLSL="errors" \
    PASSWORD="dev@ros"

# setup the entrypoint script (starts the xvfb and vnc session)
COPY ./entrypoint_code.sh /entry/
RUN dos2unix /entry/entrypoint_code.sh && chmod +x /entry/entrypoint_code.sh
ENTRYPOINT ["/entry/entrypoint_code.sh"]

# set the default shell
SHELL ["/bin/bash", "-c"]

# source ros for every new terminal session
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

# source also carla ros bridge
RUN echo "source /carla_rb_ws/devel/setup.bash" >> ~/.bashrc

# set our workdir
WORKDIR /workspace

# expose the vnc, novnc and code-server ports
#EXPOSE 5900
EXPOSE 6080
EXPOSE 8080