Splits project into a docker environment folder and source code folder (for development). This change is mostly just renaming and moving files, but there are some changes to the gazebo Dockerfile to include all dependencies required for final development.

docker_env/docker-compose.yml

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+# Docker Compose
+
+# docker-compose.yml format version
+version: '3'
+
+# Define services
+services:
+    # ROS Development Service
+    ros-dev:
+        # Use Dockerfile in ros-dev folder
+        build: ./ros-dev
+        # Mount ros-dev folder on host to app folder in container
+        volumes:
+            - ./ros-dev:/app
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
+
+    # ROS Turtlesim Service
+    ros-turtlesim:
+        # Use Dockerfile in ros-turtlesim folder
+        build: ./ros-turtlesim
+        # Mount ros-turtlesim folder on host to app folder in container
+        volumes:
+            - ./ros-turtlesim:/app
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
+        # Run turtlesim script when container is run
+        command: bash -c "./turtlesim.sh"
+
+    # ROS Production Service
+    ros:
+        # Use Dockerfile in ros folder
+        build: ./ros
+        # Mount ros folder on host to app folder in container
+        volumes:
+            - ./ros:/app
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app
+
+    # Gazebo Production Service
+    gazebo:
+        # Use Dockerfile in gazebo folder
+        build: ./gazebo
+        # Mount gazebo folder on host to app folder in container
+        volumes:
+            - ./gazebo/.gazebo:/root/.gazebo
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        network_mode: "host"
+        # Set working directory in container to app folder
+        working_dir: /app

docker_env/gazebo/Dockerfile

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+# Gazebo Dockerfile
+
+# Use official image for Gazebo 9.x 
+FROM gazebo:gzserver9
+
+# COPY $PWD/gazebo_models /root/.gazebo/models
+
+RUN apt-get update
+RUN apt-get install -y libgazebo9-dev
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-get install -y curl
+RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
+RUN apt-get update
+RUN apt-get install -y ros-melodic-desktop-full
+RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+RUN apt install -y python-rosdep
+RUN rosdep init
+RUN rosdep update
+# user id 1000 should be the same as the host user, so that you can access files
+# from inside the docker container and also on the host
+RUN useradd -u 1000 rrrobot
+# set to no password
+RUN passwd --delete rrrobot
+# add to sudo users
+RUN usermod -aG sudo rrrobot
+# set the entry point
+WORKDIR /home/rrrobot
+RUN chown -R rrrobot:rrrobot /home/rrrobot
+
+#COPY $RRROBOT_HOME/src /home/rrrobot/src
+#COPY /home/dwitcpa/eecs467/rrrobot/src /home/rrrobot
+
+RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
+RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
+RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
+RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
+
+#RUN chown -R rrrobot:rrrobot /home/rrrobot/.gazebo
+
+USER rrrobot
+
+CMD ["/bin/bash"]

docker_env/gazebo/build.sh

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+docker image build . -t eecs467:rrrobot

docker_env/gazebo/run_rrrobot_image.sh

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+../../run_rrrobot_image.sh

docker_env/ros-dev/Dockerfile

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+# ROS Development Dockerfile
+
+# Use official image for ROS Melodic Morenia
+FROM ros:melodic
+
+# Install dependencies for development
+RUN sudo apt-get update && apt-get install -y \
+        # ROS Tutorial Dependencies
+        ros-melodic-ros-tutorials \
+        ros-melodic-rqt \
+        ros-melodic-rqt-common-plugins \
+        ros-melodic-turtlesim \
+        # C++ Development: g++ compiler, etc.
+        build-essential
+
+CMD ["/bin/bash"]

docker_env/ros-dev/build.sh

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+docker image build . --rm -t eecs467:rrrobot

docker_env/ros-dev/run_rrrobot_image.sh

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+../run_rrrobot_image.sh

docker_env/ros-turtlesim/Dockerfile

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+# ROS Turtlesim Dockerfile
+
+# Use official image for ROS Melodic Morenia
+FROM ros:melodic
+
+# Install turtlesim dependencies
+RUN sudo apt-get update && apt-get install -y \
+        ros-melodic-ros-tutorials
+
+CMD ["/bin/bash"]

docker_env/ros-turtlesim/build.sh

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+docker image build . --rm -t eecs467:rrrobot

docker_env/ros-turtlesim/run_rrrobot_image.sh

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+#docker run -i -h rrrobot-env -t eecs467:rrrobot bash
+
+xhost +local:docker #rrrobot-env
+docker run -it --rm --privileged --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v $PWD:/app -v /tmp/.X11-unix:/tmp/.X11-unix -h rrrobot-env eecs467:rrrobot
+xhost -local:docker #rrrobot-env

docker_env/ros-turtlesim/turtlesim.sh

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+# turtlesim.sh
+#!/bin/bash
+
+roscore &
+rosrun turtlesim turtlesim_node &
+rosrun turtlesim turtle_teleop_key

docker_env/ros/Dockerfile

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+# ROS Dockerfile
+
+# Use official image for ROS Melodic Morenia
+FROM ros:melodic
+
+# Install dependencies for development
+RUN sudo apt-get update && apt-get install -y \
+        build-essential
+
+CMD ["/bin/bash"]

docker_env/ros/build.sh

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+docker image build . --rm -t eecs467:rrrobot

docker_env/ros/run_rrrobot_image.sh

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+#docker run -i -h rrrobot-env -t eecs467:rrrobot bash
+
+#docker run -it --rm --security-opt seccomp=unconfined -v $SSH_AUTH_SOCK:/ssh-agent --env SSH_AUTH_SOCK=/ssh-agent --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --env QT_X11_NO_MITSHM=1 -h rrrobot-env eecs467:rrrobot
+
+../run_rrrobot_image.sh