Update vnc setup

Dockerfile

-FROM henry2423/ros-vnc-ubuntu:melodic
+FROM fbottarel/ros-desktop-full-vnc:melodic
 
-USER root
-
-# Updated ros gpg key: https://github.com/henry2423/docker-ros-vnc/issues/1
-RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-RUN apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116
-
-COPY ./vnc-entrypoint.sh /entrypoint.sh
-RUN chmod +x /entrypoint.sh
-
-RUN apt-get update && apt-get install -y \
-      python-catkin-tools bash \
-      mesa-utils libgl1-mesa-glx 
-COPY ./src /src/src
-WORKDIR /src/
+RUN apt-get update && apt-get dist-upgrade -y
+RUN apt-get install -y \
+      ros-melodic-libfranka python-catkin-tools libeigen3-dev 
+#WORKDIR /src/
+COPY ./vnc/simple_simulation.sh /root/Desktop/
+RUN chmod a+x /root/Desktop/simple_simulation.sh
 ENV ROS_DISTRO=melodic
-RUN apt-get update && rosdep install --from-paths . -r -y
+WORKDIR /home/ubuntu/ros_ws
+RUN rm build devel src -rf
+COPY ./src /home/ubuntu/ros_ws/src
+RUN apt-get update && rosdep install --from-paths . -r -y && apt-get clean
 RUN catkin config \
       --extend /opt/ros/melodic && \
     catkin build
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-
-ENTRYPOINT ["/entrypoint.sh"]

README.md

@@ -15,19 +15,9 @@ instructions further below in this document. Please note that the setup uses vnc
 - Clone this repo and its submodules:
     - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
     - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
-- Follow the steps for your operating system.
-
-### Linux
-
-- Install Docker for your linux distribution
-- Run `./docker-run-vnc.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
-- Open `http://localhost:6901` in a web browser and enter the password `vncpassword`
-
-### Windows 10
-
-- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows)
-- Run `docker-run-vnc.bat roslaunch sample_applications sample_simple_simulation.launch`
-- Open `http://localhost:6901` in a web browser and enter the password `vncpassword`
+- Install Docker for your system (for Windows and Mac OS, install Docker Desktop)
+- Run the container: `docker run -it -p 6080:80 --rm git-st.inf.tu-dresden.de:4567/ceti/ros-internal/panda_gazebo_workspace`. A webserver is run inside the container that is exposed to port `6080` on your system.
+- Open `http://localhost:6080` in a web browser
 
 ## Requirements for development
 

docker-run-vnc.bat

-docker build . -t ceti-panda-gazebo-workspace
-
-docker run -it^
- -p 5901:5901 -p 6901:6901^
- ceti-panda-gazebo-workspace^
- %*
-
-pause
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docker-run-vnc.sh

-#!/bin/sh
-
-docker build . -t ceti-panda-gazebo-workspace
-
-docker run -it \
-    -p 5901:5901 -p 6901:6901 \
-    ceti-panda-gazebo-workspace \
-    "$@"
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entrypoint.sh

-#!/bin/bash
-source /opt/ros/melodic/setup.bash
-source $HOME/devel/setup.bash
-exec "$@"
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vnc-entrypoint.sh

-#!/bin/bash
-source /opt/ros/melodic/setup.bash
-source /src/devel/setup.bash
-exec /dockerstartup/vnc_startup.sh $@
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vnc/simple_simulation.sh

+#!/bin/bash
+
+source ~/ros_ws/devel/setup.bash
+roslaunch sample_applications simple_simulation.launch
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