added ros2 jazzy container

Dockerfile

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+FROM ubuntu:24.04 AS universe
+
+# ensure system is up to date
+RUN apt update
+RUN apt upgrade -y
+
+# setup locale
+RUN apt install locales -y
+RUN locale-gen en_US en_US.UTF-8
+RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG=en_US.UTF-8
+
+# add the universe repo
+RUN apt install software-properties-common -y
+RUN add-apt-repository universe -y
+
+
+FROM universe AS utils
+
+## install required tools for the setup process
+RUN apt install -y \
+    curl \
+    git \
+    vim
+
+
+FROM utils AS zsh
+
+# install zsh as default shell
+RUN apt install zsh -y
+RUN chsh -s $(which zsh)
+
+# install oh-my-zsh and powerlevel10k
+RUN sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)"
+RUN git clone --depth=1 https://github.com/romkatv/powerlevel10k.git ${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/themes/powerlevel10k
+
+# install oh-my-zsh extensions
+ENV ZSH_CUSTOM=/root/.oh-my-zsh/custom
+RUN git clone https://github.com/zsh-users/zsh-autosuggestions.git $ZSH_CUSTOM/plugins/zsh-autosuggestions
+RUN git clone https://github.com/zsh-users/zsh-syntax-highlighting.git $ZSH_CUSTOM/plugins/zsh-syntax-highlighting
+
+# add config files to make the shell look fancy
+ADD zsh/.zshrc /root
+ADD zsh/.p10k.zsh /root
+
+# make sure colors are displayed right
+ENV TERM=xterm-256color
+
+
+FROM zsh AS ros_repo
+
+# add the ros repo keys
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# add gazebo keys
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+# add glim keys
+RUN curl -s https://koide3.github.io/ppa/setup_ppa.sh | bash
+RUN curl -s --compressed "https://koide3.github.io/ppa/ubuntu2404/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
+RUN echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2404 ./" | tee /etc/apt/sources.list.d/koide3_ppa.list
+
+# update with the new keys
+RUN apt update
+
+
+FROM ros_repo AS ros_base
+
+# install ros2 and source the install
+RUN apt install ros-jazzy-desktop-full -y
+RUN echo "source /opt/ros/jazzy/setup.sh" >> /root/.zshrc
+RUN echo "source /ros2_ws/install/setup.sh" > /dev/null 2> /dev/null
+
+FROM ros_base AS ros_packages
+
+# install colcon support
+RUN apt install -y \
+    python3-argcomplete \
+    python3-colcon-argcomplete \
+    python3-colcon-ros
+    
+# install velodyne drivers
+RUN apt install -y ros-jazzy-velodyne
+
+# install gazebo
+RUN apt install -y gz-harmonic
+RUN apt install -y ros-jazzy-gazebo-msgs
+
+# setup autocomplete
+RUN echo "eval \"\$(register-python-argcomplete ros2)\"" >> /root/.zshrc
+RUN echo "eval \"\$(register-python-argcomplete colcon)\"" >> /root/.zshrc
+RUN echo "eval \"\$(register-python-argcomplete rosidl)\"" >> /root/.zshrc
+
+
+FROM ros_packages AS settings
+
+# setup timezone
+RUN echo "Europe/Berlin" > /etc/timezone
+RUN ln -sf /usr/share/zoneinfo/Europe/Berlin /etc/localtime
+
+# set workspace
+WORKDIR /ros2_ws
+
+# add docker startup script
+ADD scripts/docker-compose-entrypoint /etc
+RUN chmod +x /etc/docker-compose-entrypoint
+
+ENTRYPOINT ["zsh"]
+

docker-compose.yaml

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+
+services:
+  ros2:
+    image: hub.anxietyprime.de/ros2/jazzy:latest
+    container_name: ros2
+    runtime: nvidia  # Enable GPU support
+    network_mode: host
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - LIBGL_ALWAYS_INDIRECT=1
+      - __GLX_VENDOR_LIBRARY_NAME=nvidia
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ${XDG_RUNTIME_DIR}:${XDG_RUNTIME_DIR}
+      - /home/timo/ros2_ws:/ros2_ws
+    devices:
+      - /dev/dri
+      - "/dev/nvidia0:/dev/nvidia0"
+      - "/dev/nvidiactl:/dev/nvidiactl"
+      - "/dev/nvidia-modeset:/dev/nvidia-modeset"
+      - "/dev/nvidia-uvm:/dev/nvidia-uvm"
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
+    entrypoint: "/etc/docker-compose-entrypoint"
+    restart: always

scripts/docker-compose-entrypoint

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+#!/bin/bash
+trap "echo 'Stopping...'; exit 0" SIGTERM
+while true; do sleep 1; done

zsh/.zshrc

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+# Enable Powerlevel10k instant prompt. Should stay close to the top of ~/.zshrc.
+# Initialization code that may require console input (password prompts, [y/n]
+# confirmations, etc.) must go above this block; everything else may go below.
+if [[ -r "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh" ]]; then
+  source "${XDG_CACHE_HOME:-$HOME/.cache}/p10k-instant-prompt-${(%):-%n}.zsh"
+fi
+
+# If you come from bash you might have to change your $PATH.
+# export PATH=$HOME/bin:/usr/local/bin:$PATH
+
+# Path to your oh-my-zsh installation.
+export ZSH="$HOME/.oh-my-zsh"
+
+# Set name of the theme to load --- if set to "random", it will
+# load a random theme each time oh-my-zsh is loaded, in which case,
+# to know which specific one was loaded, run: echo $RANDOM_THEME
+# See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
+ZSH_THEME="powerlevel10k/powerlevel10k"
+
+# Set list of themes to pick from when loading at random
+# Setting this variable when ZSH_THEME=random will cause zsh to load
+# a theme from this variable instead of looking in $ZSH/themes/
+# If set to an empty array, this variable will have no effect.
+# ZSH_THEME_RANDOM_CANDIDATES=( "robbyrussell" "agnoster" )
+
+# Uncomment the following line to use case-sensitive completion.
+# CASE_SENSITIVE="true"
+
+# Uncomment the following line to use hyphen-insensitive completion.
+# Case-sensitive completion must be off. _ and - will be interchangeable.
+# HYPHEN_INSENSITIVE="true"
+
+# Uncomment one of the following lines to change the auto-update behavior
+# zstyle ':omz:update' mode disabled  # disable automatic updates
+# zstyle ':omz:update' mode auto      # update automatically without asking
+# zstyle ':omz:update' mode reminder  # just remind me to update when it's time
+
+# Uncomment the following line to change how often to auto-update (in days).
+# zstyle ':omz:update' frequency 13
+
+# Uncomment the following line if pasting URLs and other text is messed up.
+# DISABLE_MAGIC_FUNCTIONS="true"
+
+# Uncomment the following line to disable colors in ls.
+# DISABLE_LS_COLORS="true"
+
+# Uncomment the following line to disable auto-setting terminal title.
+# DISABLE_AUTO_TITLE="true"
+
+# Uncomment the following line to enable command auto-correction.
+# ENABLE_CORRECTION="true"
+
+# Uncomment the following line to display red dots whilst waiting for completion.
+# You can also set it to another string to have that shown instead of the default red dots.
+# e.g. COMPLETION_WAITING_DOTS="%F{yellow}waiting...%f"
+# Caution: this setting can cause issues with multiline prompts in zsh < 5.7.1 (see #5765)
+# COMPLETION_WAITING_DOTS="true"
+
+# Uncomment the following line if you want to disable marking untracked files
+# under VCS as dirty. This makes repository status check for large repositories
+# much, much faster.
+# DISABLE_UNTRACKED_FILES_DIRTY="true"
+
+# Uncomment the following line if you want to change the command execution time
+# stamp shown in the history command output.
+# You can set one of the optional three formats:
+# "mm/dd/yyyy"|"dd.mm.yyyy"|"yyyy-mm-dd"
+# or set a custom format using the strftime function format specifications,
+# see 'man strftime' for details.
+# HIST_STAMPS="mm/dd/yyyy"
+
+# Would you like to use another custom folder than $ZSH/custom?
+# ZSH_CUSTOM=/path/to/new-custom-folder
+
+# Which plugins would you like to load?
+# Standard plugins can be found in $ZSH/plugins/
+# Custom plugins may be added to $ZSH_CUSTOM/plugins/
+# Example format: plugins=(rails git textmate ruby lighthouse)
+# Add wisely, as too many plugins slow down shell startup.
+plugins=(git zsh-autosuggestions zsh-syntax-highlighting)
+
+source $ZSH/oh-my-zsh.sh
+
+# User configuration
+
+# export MANPATH="/usr/local/man:$MANPATH"
+
+# You may need to manually set your language environment
+# export LANG=en_US.UTF-8
+
+# Preferred editor for local and remote sessions
+# if [[ -n $SSH_CONNECTION ]]; then
+#   export EDITOR='vim'
+# else
+#   export EDITOR='mvim'
+# fi
+
+# Compilation flags
+# export ARCHFLAGS="-arch x86_64"
+
+# Set personal aliases, overriding those provided by oh-my-zsh libs,
+# plugins, and themes. Aliases can be placed here, though oh-my-zsh
+# users are encouraged to define aliases within the ZSH_CUSTOM folder.
+# For a full list of active aliases, run `alias`.
+#
+# Example aliases
+# alias zshconfig="mate ~/.zshrc"
+# alias ohmyzsh="mate ~/.oh-my-zsh"
+
+# To customize prompt, run `p10k configure` or edit ~/.p10k.zsh.
+[[ ! -f ~/.p10k.zsh ]] || source ~/.p10k.zsh
+