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+# Based on https://github.com/ll7/paf21-1/blob/master/components/carla_ros_bridge/Dockerfile
+
+# This is commented out because of the large image download necessary to build this image otherwise.
+# If the PythonAPI/carla version changes, one can comment out the Download Carla PythonAPI line below.
+# Then, uncomment this line and the COPY --from=carla line to build the image.
+# FROM ghcr.io/nylser/carla:leaderboard as carla
+# Use this image to enable instance segmentation cameras
+# FROM carlasim/carla:0.9.14 as carla
+
+# supply the base image with an environment supporting ROS UI via x11
+FROM osrf/ros:noetic-desktop-full-focal
+
+# COPY --from=carla /home/carla/PythonAPI /opt/carla/PythonAPI
+
+ARG USERNAME=carla
+ARG USER_UID=999
+ARG USER_GID=$USER_UID
+ARG DEBIAN_FRONTEND=noninteractive
+
+# install rendering dependencies for rviz / rqt
+RUN apt-get update \
+  && apt-get install -y -qq --no-install-recommends \
+    libxext6 libx11-6 libglvnd0 libgl1 \
+    libglx0 libegl1 freeglut3-dev
+
+# install dependencies for libgit2 and Carla PythonAPI
+RUN apt-get install wget unzip
+
+RUN wget https://github.com/una-auxme/paf23/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \
+  && unzip PythonAPI.zip \
+  && rm PythonAPI.zip \
+  && mkdir -p /opt/carla \
+  && mv PythonAPI /opt/carla/PythonAPI
+
+# build libgit2
+RUN wget https://github.com/libgit2/libgit2/archive/refs/tags/v1.5.0.tar.gz -O libgit2-1.5.0.tar.gz \
+    && tar xzf libgit2-1.5.0.tar.gz \
+    && cd libgit2-1.5.0/ \
+    && cmake . \
+    && make -j$(nproc --ignore=2) \
+    && make install \
+    && cd ../ \
+    && rm libgit2-1.5.0.tar.gz \
+    && rm -r libgit2-1.5.0/
+
+# CUDA installation
+RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-ubuntu2004.pin \
+    && mv cuda-ubuntu2004.pin /etc/apt/preferences.d/cuda-repository-pin-600 \
+    && wget https://developer.download.nvidia.com/compute/cuda/11.7.0/local_installers/cuda-repo-ubuntu2004-11-7-local_11.7.0-515.43.04-1_amd64.deb \
+    && dpkg -i cuda-repo-ubuntu2004-11-7-local_11.7.0-515.43.04-1_amd64.deb \
+    && cp /var/cuda-repo-ubuntu2004-11-7-local/cuda-*-keyring.gpg /usr/share/keyrings/ \
+    && apt-get update \
+    && DEBIAN_FRONTEND=noninteractive apt-get -y install cuda-nvcc-11-7 \
+    && rm cuda-repo-ubuntu2004-11-7-local_11.7.0-515.43.04-1_amd64.deb \
+    && apt-get -y remove cuda-repo-ubuntu2004-11-7-local \
+    && cat /etc/apt/sources.list \
+    && rm /etc/apt/preferences.d/cuda-repository-pin-600 \
+    && rm -rf /var/cuda-repo-ubuntu1804-11-7-local/ \
+    && rm /etc/apt/sources.list.d/cuda-ubuntu2004-11-7-local.list \
+    && apt-get clean
+
+ENV CUDA_HOME=/usr/local/cuda-11.7
+
+# override python path, carla pip package path didn't exist and was using Python 3.7 instead of 2.7
+ENV PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
+ENV PYTHONPATH=$PYTHONPATH:/opt/carla/PythonAPI/carla/dist/carla-0.9.14-py3.7-linux-x86_64.egg:/opt/carla/PythonAPI/carla
+
+# install mlocate, pip, wget, git and some ROS dependencies for building the CARLA ROS bridge
+RUN apt-get update && apt-get install -y \
+        mlocate python3-pip wget git python-is-python3 \
+        ros-noetic-ackermann-msgs ros-noetic-derived-object-msgs \
+        ros-noetic-carla-msgs ros-noetic-pcl-conversions \
+        ros-noetic-rviz ros-noetic-rqt ros-noetic-pcl-ros ros-noetic-rosbridge-suite ros-noetic-rosbridge-server \
+        ros-noetic-robot-pose-ekf ros-noetic-ros-numpy \
+        ros-noetic-py-trees-ros ros-noetic-rqt-py-trees ros-noetic-rqt-reconfigure
+
+SHELL ["/bin/bash", "-c"]
+
+# Create and apply the non-root user
+# -f parameter to work in macos (https://unix.stackexchange.com/a/465014), since gid is already in use there
+RUN groupadd --gid $USER_GID $USERNAME -f \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+USER $USERNAME
+
+# create a catkin workspace
+WORKDIR /catkin_ws
+# make sure the catkin workspace belongs to the user
+RUN sudo chown $USERNAME:$USERNAME /catkin_ws && mkdir src
+
+# install the CARLA ROS bridge
+ARG ROS_BRIDGE_GITHUB_URL=https://github.com/carla-simulator/ros-bridge
+RUN git clone -b leaderboard-2.0 --recurse-submodules --single-branch $ROS_BRIDGE_GITHUB_URL src/ros-bridge
+# apply patch to fix the build of carla_ros_bridge
+RUN cd src/ros-bridge/carla_ackermann_control && \
+    sed -i '24 i \  <build_depend condition="$ROS_VERSION == 1">carla_msgs</build_depend>' package.xml
+RUN source /opt/ros/noetic/setup.bash && \
+    rosdep update && rosdep install --from-paths src --ignore-src -r && \
+    catkin_make install
+
+ENV CARLA_ROS_BRIDGE_ROOT=/catkin_ws/src/ros-bridge
+
+# avoid python warnings about missing bin directory in PATH
+# (as we're not running as root, pip installs into ~/.local/bin)
+ENV PATH=$PATH:/home/$USERNAME/.local/bin
+
+# install simple_pid
+RUN python -m pip install pip --upgrade \
+    && python -m pip install simple_pid pygame transformations roslibpy lxml
+
+# install the scenario runner from GitHub leaderboard-2.0 branch
+ENV CARLA_ROOT=/opt/carla
+ENV SCENARIO_RUNNER_ROOT=/opt/scenario_runner
+RUN sudo mkdir $SCENARIO_RUNNER_ROOT && sudo chown $USERNAME:$USERNAME $SCENARIO_RUNNER_ROOT
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/scenario_runner.git $SCENARIO_RUNNER_ROOT
+RUN echo 'pexpect' >> $SCENARIO_RUNNER_ROOT/requirements.txt && \
+    python -m pip install -r $SCENARIO_RUNNER_ROOT/requirements.txt
+
+# install the leaderboard from GitHub leaderboard-2.0 branch
+ENV LEADERBOARD_ROOT=/opt/leaderboard
+RUN sudo mkdir $LEADERBOARD_ROOT && sudo chown $USERNAME:$USERNAME $LEADERBOARD_ROOT
+RUN git clone -b leaderboard-2.0 --single-branch https://github.com/carla-simulator/leaderboard.git $LEADERBOARD_ROOT
+RUN python -m pip install -r $LEADERBOARD_ROOT/requirements.txt
+RUN sudo mkdir /opt/leaderboard-py3 && sudo chown $USERNAME:$USERNAME /opt/leaderboard-py3 && \
+    ln -s $LEADERBOARD_ROOT/leaderboard /opt/leaderboard-py3/leaderboard && \
+    ln -s $SCENARIO_RUNNER_ROOT/srunner /opt/leaderboard-py3/srunner
+
+# environment variables for the leaderboard_evaluator
+ENV ROUTES=$LEADERBOARD_ROOT/data/routes_devtest.xml
+ENV REPETITIONS=1
+ENV DEBUG_CHALLENGE=1
+#ENV TEAM_AGENT=$LEADERBOARD_ROOT/leaderboard/autoagents/human_agent.py
+ENV TEAM_AGENT=/workspace/code/agent/src/agent/agent.py
+ENV CHECKPOINT_ENDPOINT=/workspace/code/simulation_results.json
+ENV CHALLENGE_TRACK=MAP
+
+ENV CARLA_SIM_HOST=localhost
+ENV CARLA_SIM_WAIT_SECS=15
+ENV SCENARIO_RUNNER_PATH=/opt/scenario_runner
+
+# setup python path for PyCharm integration
+RUN echo /catkin_ws/install/lib/python3/dist-packages >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth && \
+    echo /catkin_ws/devel/lib/python3/dist-packages >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth && \
+    echo /opt/ros/noetic/lib/python3/dist-packages >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth && \
+    echo /opt/ros/noetic/lib/python3/dist-packages >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth && \
+    echo /opt/leaderboard-py3 >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth && \
+    echo /opt/carla/PythonAPI/carla/dist/carla-0.9.14-py3.7-linux-x86_64.egg >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth && \
+    echo /opt/carla/PythonAPI/carla >> /home/$USERNAME/.local/lib/python3.8/site-packages/carla.pth
+
+RUN sudo mkdir /workspace && sudo chown $USERNAME:$USERNAME /workspace
+
+RUN echo "export CUDA_HOME=/usr/local/cuda-11" >> ~/.bashrc \
+    && echo "export PATH=$PATH:$CUDA_HOME/bin" >> ~/.bashrc
+
+COPY --chown=$USERNAME:$USERNAME ./code/requirements.txt /workspace/
+ENV TORCH_CUDA_ARCH_LIST="5.2 6.0 6.1 7.0 7.5 8.0 8.6+PTX"
+ENV IABN_FORCE_CUDA=1
+
+RUN source ~/.bashrc && pip install torch==1.13.1 && pip install -r /workspace/requirements.txt
+
+# Add agent code
+COPY --chown=$USERNAME:$USERNAME ./code /workspace/code/
+RUN rm -rf /workspace/code/perception/src/dataset_generator.py \
+    && rm -rf /workspace/code/planning/global_planner/src/dev_global_route.py
+
+# Link code into catkin workspace
+RUN ln -s /workspace/code /catkin_ws/src
+
+# re-make the catkin workspace
+RUN source /opt/ros/noetic/setup.bash && catkin_make
+
+ADD ./build/docker/agent/entrypoint.sh /entrypoint.sh
+
+# set the default working directory to the code
+WORKDIR /workspace/code
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash", "-c", "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=${DEBUG_CHALLENGE} \
+--repetitions=${REPETITIONS} \
+--checkpoint=${CHECKPOINT_ENDPOINT} \
+--track=${CHALLENGE_TRACK} \
+--agent=${TEAM_AGENT} \
+--routes=${ROUTES} \
+--host=${CARLA_SIM_HOST}"]