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Dockerfile_ros1_20_04

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+FROM osrf/ros:noetic-desktop-full
+
+# =========================================================
+# =========================================================
+
+# Are you are looking for how to use this docker file?
+#   - https://docs.openvins.com/dev-docker.html
+#   - https://docs.docker.com/get-started/
+#   - http://wiki.ros.org/docker/Tutorials/Docker
+
+# =========================================================
+# =========================================================
+
+# Dependencies we use, catkin tools is very good build system
+# Also some helper utilities for fast in terminal edits (nano etc)
+RUN apt-get update && apt-get install -y libeigen3-dev nano git
+RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon
+
+# Ceres solver install and setup
+RUN sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev
+# ENV CERES_VERSION="2.0.0"
+# RUN git clone https://ceres-solver.googlesource.com/ceres-solver && \
+#     cd ceres-solver && \
+#     git checkout tags/${CERES_VERSION} && \
+#     mkdir build && cd build && \
+#     cmake .. && \
+#     make -j$(nproc) install && \
+#     rm -rf ../../ceres-solver
+
+# Seems this has Python 3.8 installed on it...
+RUN apt-get update && apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+
+# Install deps needed for clion remote debugging
+# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
+# RUN sed -i '6i\source "/catkin_ws/devel/setup.bash"\' /ros_entrypoint.sh
+RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
+    gdb clang cmake rsync tar python && apt-get clean
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_test_clion \
+  && mkdir /run/sshd
+RUN useradd -m user && yes password | passwd user
+RUN usermod -s /bin/bash user
+CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
+