content: # This is an auto generated Dockerfile for ros:ros-core
  # generated from docker_images/create_ros_core_image.Dockerfile.em
  FROM nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
  
  # setup timezone
  RUN echo 'Etc/UTC' > /etc/timezone && \
      ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
      apt-get update && \
      apt-get install -q -y --no-install-recommends tzdata && \
      rm -rf /var/lib/apt/lists/*
  
  # install packages
  RUN apt-get update && apt-get install -q -y --no-install-recommends \
      dirmngr \
      gnupg2 \
      && rm -rf /var/lib/apt/lists/*
  
  # setup keys
  RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  
  # setup sources.list
  RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list
  
  # setup environment
  ENV LANG C.UTF-8
  ENV LC_ALL C.UTF-8
  
  ENV ROS_DISTRO melodic
  
  # install ros packages
  RUN apt-get update && apt-get install -y --no-install-recommends \
      ros-melodic-ros-core=1.4.1-0* ros-melodic-cv-bridge \
      && rm -rf /var/lib/apt/lists/*
  
  # setup entrypoint
  COPY ./ros_entrypoint.sh /
  RUN chmod +x ros_entrypoint.sh
  ENTRYPOINT ["/ros_entrypoint.sh"]
  CMD ["bash"]
  
  RUN apt-get update \
   && apt-get install -y vim wget tmux less htop python-pip python-tk\
   libsm6 libxext6 libxrender-dev \
   && apt-get clean
  
  RUN sudo pip install --no-cache-dir numpy==1.16.2 matplotlib==2.2.5 scipy==1.2.3 
  RUN sudo pip install --no-cache-dir torch==1.4.0 opencv-python==4.2.0.32 future
  # having trouble installing cupy with sudo 
  RUN pip install --no-cache-dir cupy==6.7.0