initial commit

Dockerfile

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+FROM osrf/ros:noetic-desktop-full
+
+COPY ./entrypoint.sh ./
+RUN chmod +x ./entrypoint.sh
+
+ENTRYPOINT ["./entrypoint.sh"]
+CMD ["bash"]

docker-compose.yaml

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+
+services:
+  ros-master:
+    image: ros-noetic-master
+    container_name: ros-noetic-master
+    build:
+      context: .
+      dockerfile: Dockerfile
+    stdin_open: true
+    tty: true
+    network_mode: "host"
+    # command: bash -c "source /opt/ros/noetic/setup.bash && roscore"
+    environment:
+      - DISPLAY=:0
+      - LIBGL_ALWAYS_SOFTWARE=1
+      - QT_X11_NO_MITSHM=1
+    volumes:
+      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"

entrypoint.sh

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+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/noetic/setup.bash" --
+exec "$@"