Dockerfile

# syntax=docker/dockerfile:1

ARG BASE_IMAGE
FROM ${BASE_IMAGE} as base

RUN if [ $(cat /etc/os-release | grep '^NAME' | cut -d '=' -f 2) = '"Ubuntu"' ] && [ $(cat /etc/os-release | grep '^VERSION_ID' | cut -d '=' -f 2) = '"24.04"' ]; then touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu; fi

# Networking proxies
ARG buildtime_http_proxy 
ARG buildtime_https_proxy
ENV http_proxy ${buildtime_http_proxy}
ENV HTTP_PROXY ${buildtime_http_proxy}
ENV https_proxy ${buildtime_https_proxy}
ENV HTTPS_PROXY ${buildtime_https_proxy}

# Avoid getting stuck with interactive interfaces when using apt-get
ENV DEBIAN_FRONTEND noninteractive

# Set the basic locale environment variables.
ENV LC_ALL en_US.UTF-8 
ENV LANG en_US.UTF-8  
ENV LANGUAGE en_US

# Set the parent directory for all dependencies (not installed).
ARG XDG_PREFIX_DIR
ENV XDG_PREFIX_DIR=${XDG_PREFIX_DIR}

WORKDIR ${XDG_PREFIX_DIR}

RUN apt-get update && \
    apt-get install -qy --no-install-recommends \
    # a handy tool for superuser privilege
    sudo \
    # a handy tool to set up locales
    locales \
    # a handy tool to print LSB (Linux Standard Base) and distribution information
    lsb-release \
    # essentials for building
    build-essential pkg-config cmake \
    # compression
    zip unzip zlib1g-dev liblzma-dev libbz2-dev \
    # networking
    wget curl net-tools \
    # SSL based verification
    gnupg2 dirmngr ca-certificates libssl-dev \
    # management of software sources 
    software-properties-common \
    # editor, version control system, documentation generator, manual, bash completion
    vim git doxygen man-db bash-completion \
    # x11 client 
    xauth xclip x11-apps \
    # ssh server 
    openssh-server \
    # desktop-bus
    dbus dbus-x11 \
    # text-based user interfaces 
    libreadline-dev ncurses-dev libffi-dev \
    # graphics user interfaces
    tk-dev libgtk-3-dev libcanberra-gtk3-module \
    # image codec
    libpng-dev libjpeg-dev libtiff-dev libopenjp2-7-dev \
    # ffmpeg
    libavcodec-dev libavdevice-dev libavfilter-dev libavformat-dev libavutil-dev libpostproc-dev libswscale-dev \
    # kernel headers, here for v4l for opencv
    linux-headers-generic \
    # usb peripherals & uvc cameras
    usbutils libv4l-dev v4l-utils \
    # python3
    python3-dev python3-pip python3-venv python3-setuptools python3-wheel \
    # linear algebra libraries
    libeigen3-dev libatlas-base-dev libblas-dev liblapack-dev libsuitesparse-dev \
    # logging and cli flag libraries
    libgoogle-glog-dev libgflags-dev \
    # cpu acceleration libraries
    libbtbb-dev libomp-dev \
    # opengl math
    libglm-dev \
    # sql
    libsqlite3-dev \
    # Clear
    && rm -rf /var/lib/apt/lists/* && \
    # Set locales
    sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen

FROM base as intermediate

# Set up a non-root user within the sudo group.
# Warning: 'sudo' is not recommended in Dockerfile.
ARG DOCKER_USER 
ARG DOCKER_UID
ARG DOCKER_GID 
ARG DOCKER_HOME
RUN groupadd -g ${DOCKER_GID} ${DOCKER_USER} && \
    useradd -r -m -d ${DOCKER_HOME} -s /bin/bash -g ${DOCKER_GID} -u ${DOCKER_UID} -G sudo ${DOCKER_USER} && \
    echo ${DOCKER_USER} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${DOCKER_USER} && \
    chmod 0440 /etc/sudoers.d/${DOCKER_USER}

USER ${DOCKER_USER}
WORKDIR ${DOCKER_HOME}

SHELL ["/bin/bash", "-c"]

ENV XDG_DATA_HOME=${DOCKER_HOME}/.local/share
ENV XDG_CONFIG_HOME=${DOCKER_HOME}/.config
ENV XDG_STATE_HOME=${DOCKER_HOME}/.local/state
ENV XDG_CACHE_HOME=${DOCKER_HOME}/.cache
ENV XDG_PREFIX_HOME=${DOCKER_HOME}/.local

ENV PATH="${XDG_PREFIX_HOME}/bin:${PATH}"
ENV LD_LIBRARY_PATH="${XDG_PREFIX_HOME}/lib:${PATH}"
ENV MAN_PATH="${XDG_PREFIX_HOME}/man:${PATH}"

# Download and install Cmake
ARG CMAKE_VERSION
RUN wget https://github.com/Kitware/CMake/releases/download/v${CMAKE_VERSION}/cmake-${CMAKE_VERSION}-linux-x86_64.tar.gz && \
    tar -zxf cmake-${CMAKE_VERSION}-linux-x86_64.tar.gz && \
    export SOURCE_DIR=${PWD}/cmake-${CMAKE_VERSION}-linux-x86_64 && export DEST_DIR=${XDG_PREFIX_HOME} && \
    (cd ${SOURCE_DIR} && find . -type f -exec install -Dm 755 "{}" "${DEST_DIR}/{}" \;) && \
    rm -r cmake-${CMAKE_VERSION}-linux-x86_64.tar.gz cmake-${CMAKE_VERSION}-linux-x86_64

ARG COMPILE_JOBS
WORKDIR ${XDG_PREFIX_HOME}

# Build Ceres-solver.
FROM intermediate AS building_ceres
ARG CERES_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} ./downloads/ceres-solver-${CERES_VERSION}.tar.gz .
RUN tar -zxf ceres-solver-${CERES_VERSION}.tar.gz && \ 
    cd ceres-solver-${CERES_VERSION} && \
    cmake -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 && \
    cmake --build build -j ${COMPILE_JOBS} && \
    mkdir -p install && \
    cmake --install build --prefix ${PWD}/install

# Build OpenCV.
FROM intermediate AS building_opencv
ARG OPENCV_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} ./downloads/opencv-${OPENCV_VERSION}.tar.gz .
ARG OPENCV_CONTRIB_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} ./downloads/opencv_contrib-${OPENCV_CONTRIB_VERSION}.tar.gz .
RUN tar -zxf opencv-${OPENCV_VERSION}.tar.gz && \
    tar -zxf opencv_contrib-${OPENCV_CONTRIB_VERSION}.tar.gz && \
    rm *.tar.gz && \
    cd opencv-${OPENCV_VERSION} && \
    cmake . -B build \
    -DCMAKE_BUILD_TYPE=Release \
    -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-${OPENCV_CONTRIB_VERSION}/modules \
    -DBUILD_SHARED_LIBS=ON \
    -DENABLE_PIC=ON \
    -DOPENCV_GENERATE_PKGCONFIG=ON \
    -DBUILD_TESTS=OFF \
    -DBUILD_PERF_TESTS=OFF \
    -DBUILD_EXAMPLES=ON \
    -DBUILD_opencv_apps=OFF \
    # CUDA has issues with LTO support 
    # Ref: https://forums.developer.nvidia.com/t/link-time-optimization-with-cuda-on-linux-flto/55531/6
    -DENABLE_LTO=OFF \
    -DOPENCV_IPP_GAUSSIAN_BLUR=ON \
    -DOPENCV_IPP_MEAN=ON \
    -DOPENCV_IPP_MINMAX=ON \
    -DOPENCV_IPP_SUM=ON \
    -DWITH_CUDA=ON \
    -DWITH_V4L=ON \
    -DWITH_FFMPEG=ON \
    -DWITH_TBB=ON \
    -DWITH_OPENMP=ON \
    -DWITH_GTK=ON \
    && cmake --build build -j ${COMPILE_JOBS} && \
    mkdir install && \
    cmake --install build --prefix ${PWD}/install

# Build PCL
FROM intermediate AS building_pcl_dependencies

ARG BOOST_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} ./downloads/boost-${BOOST_VERSION}.tar.gz .
RUN mkdir boost-${BOOST_VERSION} && tar -zxf boost-${BOOST_VERSION}.tar.gz --strip-component=1 -C boost-${BOOST_VERSION} && rm boost-${BOOST_VERSION}.tar.gz && \
    cd boost-${BOOST_VERSION} && \
    ./bootstrap.sh && \
    mkdir install && \
    ./b2 install --prefix=${XDG_PREFIX_HOME}/boost-${BOOST_VERSION}/install

ARG VTK_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} ./downloads/vtk-${VTK_VERSION}.tar.gz .
RUN mkdir vtk-${VTK_VERSION} && tar -zxf vtk-${VTK_VERSION}.tar.gz --strip-component=1 -C vtk-${VTK_VERSION} && rm vtk-${VTK_VERSION}.tar.gz && \
    cd vtk-${VTK_VERSION} && \
    cmake -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 && \
    cmake --build build -j ${COMPILE_JOBS} && \
    mkdir install && \
    cmake --install build --prefix ${XDG_PREFIX_HOME}/vtk-${VTK_VERSION}/install

ARG FLANN_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} ./downloads/flann-${FLANN_VERSION}.tar.gz .
RUN sudo apt-get update && \
    sudo apt-get install -qy --no-install-recommends \
    liblz4-dev \
    && sudo rm -rf /var/lib/apt/lists/* && \
    mkdir flann-${FLANN_VERSION} && tar -zxf flann-${FLANN_VERSION}.tar.gz --strip-component=1 -C flann-${FLANN_VERSION} && rm flann-${FLANN_VERSION}.tar.gz && \
    cd flann-${FLANN_VERSION} && \
    # reference: https://github.com/flann-lib/flann/issues/369#issuecomment-932793309
    touch src/cpp/empty.cpp && \
    sed -e '/add_library(flann_cpp SHARED/ s/""/empty.cpp/' \
    -e '/add_library(flann SHARED/ s/""/empty.cpp/' \
    -i src/cpp/CMakeLists.txt && \
    cmake -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 && \
    cmake --build build -j ${COMPILE_JOBS} && \
    # A fix for invalid -DFLANN_ROOT=./build in pcl
    mkdir install && cmake --install build --prefix ${XDG_PREFIX_HOME}/flann-${FLANN_VERSION}/install

FROM building_pcl_dependencies as building_pcl

ARG BOOST_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl_dependencies ${XDG_PREFIX_HOME}/boost-${BOOST_VERSION}/install ${XDG_PREFIX_HOME}/boost-${BOOST_VERSION}
ARG VTK_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl_dependencies ${XDG_PREFIX_HOME}/vtk-${VTK_VERSION}/install ${XDG_PREFIX_HOME}/vtk-${VTK_VERSION}
ARG FLANN_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl_dependencies ${XDG_PREFIX_HOME}/flann-${FLANN_VERSION}/install ${XDG_PREFIX_HOME}/flann-${FLANN_VERSION}

ARG PCL_GIT_REFERENCE
RUN git clone --config http.proxy="${http_proxy}" --config https.proxy="${https_proxy}" https://github.com/PointCloudLibrary/pcl.git && \
    cd pcl && \ 
    git checkout ${PCL_GIT_REFERENCE} && \
    cmake -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 -DCMAKE_CUDA_STANDARD=17 -DBoost_NO_SYSTEM_PATHS=ON -DBOOST_ROOT=${XDG_PREFIX_HOME}/boost-${BOOST_VERSION} -DVTK_DIR=${XDG_PREFIX_HOME}/vtk-${VTK_VERSION} -DFLANN_ROOT=${XDG_PREFIX_HOME}/flann-${FLANN_VERSION} && \
    cmake --build build -j ${COMPILE_JOBS} && \
    mkdir -p install && \
    cmake --install build --prefix ${PWD}/install

FROM intermediate AS intermediate-ros

RUN sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    lsb-release \
    wget curl \
    zsh direnv \
    python3-venv python3-pip \
    openssh-server \
    ripgrep fd-find \
    && sudo rm -rf /var/lib/apt/lists/*

# Install ROS1 (desktop-full) via package manager
ARG ROS1_DISTRO
RUN if [ ! -z "${ROS1_DISTRO}" ]; then \
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - && \
    sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    ros-${ROS1_DISTRO}-desktop-full \
    python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools \
    && sudo rm -rf /var/lib/apt/lists/* \
    sudo rosdep init && \
    # ref: https://answers.ros.org/question/284683/rosdep-update-error-in-kinetic/
    if [ -z "${http_proxy}" ]; then \
    unset http_proxy && \
    unset https_proxy && \
    unset HTTP_PROXY && \
    unset HTTPS_PROXY; \
    fi && \
    source /opt/ros/${ROS1_DISTRO}/setup.sh && \
    sudo rosdep init && \
    sudo apt update && \
    rosdep update \
    ;fi

# Install ROS2 (desktop-full) via package manager
ARG ROS2_DISTRO
RUN if [ ! -z "${ROS2_DISTRO}" ]; then \
    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
    sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    ros-${ROS2_DISTRO}-desktop \
    python3-argcomplete \
    ros-dev-tools \
    && sudo rm -rf /var/lib/apt/lists/* \
    ;fi

FROM intermediate-ros AS robotics-devel

# Neovim
ARG NEOVIM_VERSION
RUN if [ ! -z "${NEOVIM_VERSION}" ]; then \
    wget "https://github.com/neovim/neovim/releases/download/v${NEOVIM_VERSION}/nvim-linux64.tar.gz" -O nvim-linux64.tar.gz && \
    tar -xf nvim-linux64.tar.gz && \
    export SRC_DIR="${PWD}/nvim-linux64" && export DEST_DIR="${XDG_PREFIX_HOME}" && \
    (cd ${SRC_DIR} && find . -type f -exec install -Dm 755 "{}" "${DEST_DIR}/{}" \;) && \
    rm -r nvim-linux64.tar.gz nvim-linux64 \
    ;else \
    sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    neovim \
    && sudo rm -fr /var/lib/apt/lists/* \
    ;fi
# Tmux
ARG TMUX_GIT_REFERENCE
RUN if [ ! -z "${TMUX_GIT_REFERENCE}" ]; then \
    sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    libevent-dev ncurses-dev build-essential bison pkg-config autoconf automake \
    && sudo rm -fr /var/lib/apt/lists/* && \
    git clone --config http.proxy=${http_proxy} --config https.proxy=${https_proxy} "https://github.com/tmux/tmux" && \ 
    cd tmux && \
    git checkout ${TMUX_GIT_REFERENCE} && \
    sh autogen.sh && \
    ./configure --prefix=${DOCKER_HOME}/.local && \
    make -j ${COMPILE_JOBS} && \
    make install && \
    rm -rf ../tmux \
    ;else \
    sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    tmux \
    && sudo rm -fr /var/lib/apt/lists/* \
    ;fi

RUN \
    # Install lazygit (the newest version)
    LAZYGIT_VERSION=$(curl -s "https://api.github.com/repos/jesseduffield/lazygit/releases/latest" | grep -Po '"tag_name": "v\K[^"]*') && \
    curl -Lo lazygit.tar.gz "https://github.com/jesseduffield/lazygit/releases/latest/download/lazygit_${LAZYGIT_VERSION}_Linux_x86_64.tar.gz" && \
    tar xf lazygit.tar.gz lazygit && \
    install -Dm 755 lazygit ${XDG_PREFIX_HOME}/bin && \
    rm lazygit.tar.gz lazygit && \
    # Install starship, a cross-shell prompt tool
    mkdir -p ${XDG_PREFIX_HOME}/bin && \
    wget -qO- https://starship.rs/install.sh | sh -s -- --yes -b ${XDG_PREFIX_HOME}/bin && \
    # Install oh-my-zsh
    sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
    # Install tpm
    if [ -n ${http_proxy} && -n ${https_proxy} ]; then \
    git clone --config http.proxy=${http_proxy} --config https.proxy=${https_proxy} --depth 1 https://github.com/tmux-plugins/tpm ${XDG_PREFIX_HOME}/share/tmux/plugins/tpm; \
    else \
    git clone --depth 1 https://github.com/tmux-plugins/tpm ${XDG_PREFIX_HOME}/share/tmux/plugins/tpm; \
    fi && \
    # Install nvm, without modification of shell profiles
    export NVM_DIR=~/.config/nvm && mkdir -p ${NVM_DIR} && \
    PROFILE=/dev/null bash -c 'wget -qO- "https://github.com/nvm-sh/nvm/raw/master/install.sh" | bash' && \
    # Load nvm and install the latest lts nodejs
    . "${NVM_DIR}/nvm.sh" && nvm install --lts node

# Install mamba and conda
RUN cd ${XDG_PREFIX_HOME} && \
    curl -Ls https://micro.mamba.pm/api/micromamba/linux-64/latest | tar -xvj bin/micromamba && \
    bin/micromamba config append channels conda-forge && \
    bin/micromamba config set channel_priority strict && \
    wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh && \
    bash Miniconda3-latest-Linux-x86_64.sh -b -p ${XDG_PREFIX_HOME}/miniconda3 && \
    rm Miniconda3-latest-Linux-x86_64.sh && \
    miniconda3/bin/conda config --set auto_activate_base false

# Set up ssh server
RUN sudo mkdir -p /var/run/sshd && \
    sudo sed -i "s/^.*X11UseLocalhost.*$/X11UseLocalhost no/" /etc/ssh/sshd_config && \
    sudo sed -i "s/^.*PermitUserEnvironment.*$/PermitUserEnvironment yes/" /etc/ssh/sshd_config

RUN sudo apt-get update && sudo apt-get install -qy --no-install-recommends \
    libnotify-bin msmtp \
    && sudo rm -rf /var/lib/apt/lists/*

ARG BOOST_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl_dependencies ${XDG_PREFIX_HOME}/boost-${BOOST_VERSION}/install ${XDG_PREFIX_HOME}/boost-${BOOST_VERSION}
ARG VTK_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl_dependencies ${XDG_PREFIX_HOME}/vtk-${VTK_VERSION}/install ${XDG_PREFIX_HOME}/vtk-${VTK_VERSION}
ARG FLANN_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl_dependencies ${XDG_PREFIX_HOME}/flann-${FLANN_VERSION}/install ${XDG_PREFIX_HOME}/flann-${FLANN_VERSION}
ARG CERES_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_ceres ${XDG_PREFIX_HOME}/ceres-solver-${CERES_VERSION}/install ${XDG_PREFIX_HOME}/ceres-solver-${CERES_VERSION}
ARG PCL_GIT_REFERENCE
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_pcl ${XDG_PREFIX_HOME}/pcl/install ${XDG_PREFIX_HOME}/pcl-${PCL_GIT_REFERENCE}
ARG OPENCV_VERSION
COPY --chown=${DOCKER_USER}:${DOCKER_USER} --from=building_opencv ${XDG_PREFIX_HOME}/opencv-${OPENCV_VERSION}/install ${XDG_PREFIX_HOME}/opencv-${OPENCV_VERSION}

# A trick to get rid of using Docker building cache from now on.
ARG SETUP_TIMESTAMP
# Dotfiles
RUN cd ~ && \
    git init && \
    git remote add origin https://github.com/xiaosq2000/dotfiles && \
    git fetch --all && \
    git reset --hard origin/main && \
    git branch -M main

ENV TERM=xterm-256color
SHELL ["/usr/bin/zsh", "-ic"]
WORKDIR ${DOCKER_HOME}

# Clear environment variables exclusively for building to prevent pollution.
ENV DEBIAN_FRONTEND=newt
ENV http_proxy=
ENV HTTP_PROXY=
ENV https_proxy=
ENV HTTPS_PROXY=

FROM robotics-devel as gsplat

# Networking proxies
ARG buildtime_http_proxy 
ARG buildtime_https_proxy
ENV http_proxy ${buildtime_http_proxy}
ENV HTTP_PROXY ${buildtime_http_proxy}
ENV https_proxy ${buildtime_https_proxy}
ENV HTTPS_PROXY ${buildtime_https_proxy}
# Avoid getting stuck with interactive interfaces when using apt-get
ENV DEBIAN_FRONTEND noninteractive

# Robostack: ROS1 Noetic
RUN micromamba create -y -n ros_env -c conda-forge -c robostack-staging ros-noetic-desktop python=3.11
# 3D Gaussian Splatting
RUN micromamba create -y -n gsplat -c nvidia/label/cuda-12.4.0 -c pytorch -c nvidia python=3.11 cuda pytorch=2.4.1 torchvision=0.19 pytorch-cuda=12.4

# Clear environment variables exclusively for building to prevent pollution.
ENV DEBIAN_FRONTEND=newt
ENV http_proxy=
ENV HTTP_PROXY=
ENV https_proxy=
ENV HTTPS_PROXY=
################################################################################
################################### Archive ####################################
################################################################################

# # Copy ROS2 (fat achieve) and install Gazebo (APT).
# ARG ROS2_DISTRO
# ARG ROS2_RELEASE_DATE
# ARG UBUNTU_DISTRO
# ARG ARCH 
# ADD --chown=${DOCKER_USER}:${DOCKER_USER} /downloads/ros2-${ROS2_DISTRO}-${ROS2_RELEASE_DATE}-linux-${UBUNTU_DISTRO}-${ARCH}.tar.bz2 .
# RUN 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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
#     apt-get update && apt-get install -qy --no-install-recommends \
#     python3-rosdep \
#     ros-dev-tools \
#     ros-${ROS2_DISTRO}-gazebo-ros \
#     && rm -rf /var/lib/apt/lists/*

# # Utilize rosdep for installing missing ROS dependencies. Be cautious! 
# # `rosdep' is designed for non-root users and dependent on a system package manager, i.e., `sudo' and `apt' here.
# # However, sudo is not recommended in Docker for many reasons, and a normal routine of `rosdep' fails here.
# # It's just a quick-and-dirty solution.
# # Ref: https://robotics.stackexchange.com/questions/75642/how-to-run-rosdep-init-and-update-in-dockerfile
# 
# ARG RTI_CONNEXT_DDS_VERSION
# RUN sudo apt-get update && \
#     source ${XDG_PREFIX_DIR}/ros2-linux/setup.bash && \
#     sudo -E rosdep init && \
#     rosdep update --rosdistro ${ROS2_DISTRO} && \
#     # `RTI_NC_LICENSE_ACCEPTED=yes' to escape from interactive interface. 
#     RTI_NC_LICENSE_ACCEPTED=yes rosdep install --from-paths ${XDG_PREFIX_DIR}/ros2-linux/share --ignore-src -y --skip-keys "\
#     cyclonedds \
#     fastcdr \
#     fastrtps \
#     urdfdom_headers \
#     rti-connext-dds-${RTI_CONNEXT_DDS_VERSION} \
#     "
# # Copy pre-built CARLA simulator
# RUN apt-get update && apt-get install -qy --no-install-recommends \
#     # runtime dependencies
#     libsdl2-2.0 xserver-xorg libvulkan1 libomp5 \
#     # Fix the seemingly harmless error, ``sh: 1: xdg-user-dir: not found''
#     xdg-user-dirs \
#     && rm -rf /var/lib/apt/lists/* && \
# ARG CARLA_VERSION
# ADD --chown=${DOCKER_USER}:${DOCKER_USER} downloads/CARLA_${CARLA_VERSION}.tar.gz ${XDG_PREFIX_DIR}/CARLA_${CARLA_VERSION}