Dockerfile

FROM ros:melodic-perception
MAINTAINER QIU Xiaochen <ares43490@126.com>

ENV CERES_VERSION="1.14.0"
ENV JOBS_NUM="4"

RUN	apt-get -y update && apt-get install -y \
	libboost-all-dev \
	cmake git \
	libgoogle-glog-dev \
	libeigen3-dev \
	libsuitesparse-dev \
	libgl1-mesa-dev \
	libglew-dev \
	libxkbcommon-x11-dev \
	ros-${ROS_DISTRO}-tf-conversions \
	ros-${ROS_DISTRO}-rviz && \
	rm -rf /var/lib/apt/lists/*

RUN	cd /root && \
	git clone https://github.com/ceres-solver/ceres-solver.git && \
	cd ceres-solver && git checkout tags/${CERES_VERSION} && \
	mkdir build && cd build && \
	cmake .. && make -j${JOBS_NUM} install && \
	cd /root && \
	git clone https://github.com/stevenlovegrove/Pangolin.git && \
	cd Pangolin && mkdir build && cd build && \
	cmake .. && make -j${JOBS_NUM} install && \
	rm -rf /root/*

ENV	DEBIAN_FRONTEND noninteractive

RUN	apt-get update -y && apt-get install -y \
	openssh-server xfce4 xfce4-goodies x11vnc sudo bash xvfb && \
	useradd -ms /bin/bash ubuntu && echo 'ubuntu:ubuntu' | chpasswd && \
	echo "ubuntu ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers && apt-get clean && \
	rm -rf /var/lib/apt/lists/*

COPY 	x11vnc /etc/init.d/
COPY 	xvfb /etc/init.d/
COPY 	entry.sh /

RUN 	sudo chmod +x /entry.sh /etc/init.d/*

EXPOSE 	5900

ENTRYPOINT [ "/entry.sh" ]