Updated Dockerfile for Foxy Implementation (#73)

* * Updated Dockerfile to upgrade Numpy to resolve a version conflict with industrial reconstruction.
* Changed the user field to 'root' in docker-compose.yaml to have appropriate permissions to upgrade Numpy.
* Added 'priveleged:true tag to resolve rviz dbus connection bug in docker-compose.yaml.
* Tested in Foxy container.

* Switched image tags from foxy to humble, reverted change from user being root to using the current user id. Added functionality for container to recognize the user name and password.

* Run apt update before installing dependencies

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Co-authored-by: Michael Ripperger <[email protected]>

docker/Dockerfile

@@ -8,19 +8,18 @@ ENV DEBIAN_FRONTEND noninteractive
 USER root
 
 # Install Python dependencies
-RUN python3 -m pip install open3d pyquaternion
+RUN python3 -m pip install open3d pyquaternion --upgrade
 
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 ARG WORKSPACE_DIR=/opt/snp
 RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/snp \
-  source /opt/tesseract_ros2/install/setup.bash \
+  apt update -y -qq \
+  && source /opt/tesseract_ros2/install/setup.bash \
   && vcs import ${WORKSPACE_DIR}/src < ${WORKSPACE_DIR}/src/snp/dependencies.repos --shallow \
   && rosdep install \
     --from-paths ${WORKSPACE_DIR}/src \
     -iry \
-    --skip-keys libvtk \
-  && apt install -y \
-    libxmlrpcpp-dev
+    --skip-keys libvtk
 
 # Build the repository
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image

docker/docker-compose.yml

@@ -12,14 +12,17 @@ services:
       NVIDIA_DRIVER_CAPABILITIES: all
       ROS_LOG_DIR: /tmp
     container_name: snp
-    image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:humble-latest
+    image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:humble-master
     stdin_open: true
     tty: true
     network_mode: host
+    privileged: true
     user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /etc/hosts:/etc/hosts
+      - /etc/passwd:/etc/passwd:ro
+      - /etc/group:/etc/group:ro
     deploy:
       resources:
         reservations: