Dockerfile

#
# Copyright (c) 2024, Honda Research Institute Europe GmbH
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# modification, are permitted provided that the following conditions are
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#  this list of conditions and the following disclaimer.
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FROM ubuntu:jammy-20240427

ARG WITH_SSH_SERVER
ENV USE_SSH_SERVER=$WITH_SSH_SERVER

RUN apt-get update && \
    apt-get install --yes --no-install-recommends \
      build-essential=12.9ubuntu3 \
      cmake=3.22.1-1ubuntu1.22.04.2 \
      git=1:2.34.1-1ubuntu1.11 \
      libasio-dev=1:1.18.1-1 \
      libbullet-dev=3.06+dfsg-4build2 \
      libopenscenegraph-dev=3.6.5+dfsg1-7build3 \
      libqwt-qt5-dev=6.1.4-2 \
      libxml2-dev=2.9.13+dfsg-1ubuntu0.4 \
      libzmq3-dev=4.3.4-2 \
      openssh-server=1:8.9p1-3ubuntu0.10 \
      python-is-python3=3.9.2-2 \
      python3=3.10.6-1~22.04.1 \
      python3-dev=3.10.6-1~22.04.1 \
      python3-pip=22.0.2+dfsg-1ubuntu0.5 \
      qt5-qmake=5.15.3+dfsg-2ubuntu0.2 \
      qtbase5-dev=5.15.3+dfsg-2ubuntu0.2 \
      xauth=1:1.1-1build2 \
      portaudio19-dev=19.6.0-1.1 && \
    rm -rf /var/lib/apt/lists/*

COPY src /attentive_support/src
COPY requirements.txt /attentive_support/requirements.txt
RUN mkdir /attentive_support/build

WORKDIR /attentive_support/build

RUN cmake /attentive_support/src/Smile -DCMAKE_INSTALL_PREFIX=/attentive_support/install && \
    make -j 8 && \
    make install

RUN pip install --no-cache-dir -r /attentive_support/requirements.txt

RUN if [ "$WITH_SSH_SERVER" = true ] ; then \
      echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && \
      echo "root:hri" | chpasswd && \
      mkdir /run/sshd ; \
    fi

ENTRYPOINT if [ "$USE_SSH_SERVER" = true ] ; then \
             /usr/sbin/sshd -De ; \
           else \
             /usr/bin/python -i /attentive_support/src/tool_agent.py ; \
           fi