feat: Add ROS 2 Galactic

galactic/Dockerfile

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+FROM dorowu/ubuntu-desktop-lxde-vnc:focal
+LABEL maintainer="Tiryoh<tiryoh@gmail.com>"
+
+RUN echo "Set disable_coredump false" >> /etc/sudo.conf
+RUN apt-get update -q && \
+    apt-get upgrade -yq && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq wget curl git build-essential vim sudo lsb-release locales bash-completion tzdata gosu && \
+    rm -rf /var/lib/apt/lists/*
+RUN useradd --create-home --home-dir /home/ubuntu --shell /bin/bash --user-group --groups adm,sudo ubuntu && \
+    echo ubuntu:ubuntu | chpasswd && \
+    echo "ubuntu ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+COPY ./ros-galactic-desktop.sh /ros-galactic-desktop.sh
+RUN mkdir -p /tmp/ros_setup_scripts_ubuntu && mv /ros-galactic-desktop.sh /tmp/ros_setup_scripts_ubuntu/ && \
+    gosu ubuntu /tmp/ros_setup_scripts_ubuntu/ros-galactic-desktop.sh && \
+    rm -rf /var/lib/apt/lists/*
+ENV USER ubuntu

galactic/ros-galactic-desktop.sh

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+#!/usr/bin/env bash
+set -eu
+
+# This install script is based on https://github.com/Tiryoh/ros2_setup_scripts_ubuntu, released under the Apache-2.0.
+
+# REF: https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/
+# by Open Robotics, licensed under CC-BY-4.0
+# source: https://github.com/ros2/ros2_documentation
+
+CHOOSE_ROS_DISTRO=galactic
+INSTALL_PACKAGE=desktop
+
+sudo apt-get update
+sudo apt-get install -y curl gnupg2 lsb-release
+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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+sudo apt-get update
+sudo apt-get install -y ros-${CHOOSE_ROS_DISTRO}-${INSTALL_PACKAGE}
+sudo apt-get install -y python3-argcomplete
+sudo apt-get install -y python3-colcon-common-extensions
+sudo apt-get install -y python3-rosdep python3-vcstool # https://index.ros.org/doc/ros2/Installation/Linux-Development-Setup/
+sudo rosdep init
+rosdep update
+sudo apt-get install -y ros-${CHOOSE_ROS_DISTRO}-gazebo-ros-pkgs
+grep -F "source /opt/ros/${CHOOSE_ROS_DISTRO}/setup.bash" ~/.bashrc ||
+echo "source /opt/ros/${CHOOSE_ROS_DISTRO}/setup.bash" >> ~/.bashrc
+
+set +u
+
+source /opt/ros/${CHOOSE_ROS_DISTRO}/setup.bash
+
+echo "success installing ROS2 ${CHOOSE_ROS_DISTRO}"
+echo "Run 'source /opt/ros/${CHOOSE_ROS_DISTRO}/setup.bash'"