Docker Update 2

Dockerfile

@@ -41,22 +41,32 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     python3-venv \
     python3-dev \
-    # Graphics / X11
+    # Graphics / X11 / Vulkan
     libgl1 \
     libglx-mesa0 \
     libgl1-mesa-dri \
     mesa-utils \
     x11-apps \
-    # Video recording
+    libxcb-xinerama0 \
+    libxkbcommon-x11-0 \
+    libxcb-cursor0 \
+    libxcb-icccm4 \
+    libxcb-keysyms1 \
+    libxcb-shape0 \
+    libvulkan1 \
+    # Video recording & codecs
     ffmpeg \
     xdotool \
     wmctrl \
+    libx264-dev \
+    libx265-dev \
     # Networking
     netcat-openbsd \
-    # GStreamer (for ArduPilot Gazebo plugin)
+    # GStreamer (for ArduPilot Gazebo plugin video streaming)
     libgstreamer1.0-dev \
     libgstreamer-plugins-base1.0-dev \
     gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-good \
     gstreamer1.0-libav \
     gstreamer1.0-gl \
     # OpenCV
@@ -70,12 +80,12 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" > /etc/apt/sources.list.d/ros2.list \
     && apt-get update \
     && apt-get install -y \
-        ros-jazzy-ros-base \
-        ros-jazzy-geometry-msgs \
-        ros-jazzy-std-msgs \
-        ros-jazzy-nav-msgs \
-        ros-jazzy-sensor-msgs \
-        ros-jazzy-ros-gz \
+    ros-jazzy-ros-base \
+    ros-jazzy-geometry-msgs \
+    ros-jazzy-std-msgs \
+    ros-jazzy-nav-msgs \
+    ros-jazzy-sensor-msgs \
+    ros-jazzy-ros-gz \
     && rm -rf /var/lib/apt/lists/*
 
 # =============================================================================
@@ -85,18 +95,18 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk
     && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable noble main" > /etc/apt/sources.list.d/gazebo-stable.list \
     && apt-get update \
     && apt-get install -y \
-        gz-harmonic \
-        # Development packages for building ardupilot_gazebo plugin
-        libgz-cmake3-dev \
-        libgz-sim8-dev \
-        libgz-plugin2-dev \
-        libgz-common5-dev \
-        libgz-physics7-dev \
-        libgz-sensors8-dev \
-        libgz-rendering8-dev \
-        libgz-transport13-dev \
-        libgz-msgs10-dev \
-        rapidjson-dev \
+    gz-harmonic \
+    # Development packages for building ardupilot_gazebo plugin
+    libgz-cmake3-dev \
+    libgz-sim8-dev \
+    libgz-plugin2-dev \
+    libgz-common5-dev \
+    libgz-physics7-dev \
+    libgz-sensors8-dev \
+    libgz-rendering8-dev \
+    libgz-transport13-dev \
+    libgz-msgs10-dev \
+    rapidjson-dev \
     && rm -rf /var/lib/apt/lists/*
 
 # =============================================================================
@@ -106,11 +116,18 @@ ARG USERNAME=pilot
 ARG USER_UID=1000
 ARG USER_GID=1000
 
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && apt-get update \
+# Create user - handle case where GID/UID 1000 may already exist
+RUN apt-get update \
     && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    # Create group if it doesn't exist, or use existing
+    && (getent group $USER_GID || groupadd --gid $USER_GID $USERNAME) \
+    # Create user if doesn't exist
+    && (id -u $USER_UID >/dev/null 2>&1 || useradd --uid $USER_UID --gid $USER_GID -m $USERNAME) \
+    # Ensure home directory exists and has correct ownership
+    && mkdir -p /home/$USERNAME \
+    && chown $USER_UID:$USER_GID /home/$USERNAME \
+    # Add sudo permissions
+    && echo "$USERNAME ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
     && rm -rf /var/lib/apt/lists/*