anchor.diff:  RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
   
   # update the repository
  -RUN apt-get update
  +RUN apt-get update -y
   
   # install ros packages
   ENV ROS_DISTRO indigo
  -RUN apt-get install -y ros-indigo-desktop-full=1.1.4-0*
  +RUN apt-get install -y -q --no-install-recommends ros-indigo-desktop-full=1.1.4-0*  python-rosinstall
   
   # rosdep init
   RUN rosdep init
   
  -# enables you to easily download many source trees for ROS packages with one command
  -RUN apt-get install -y python-rosinstall
   
   # install additional system packages and ros packages
   # update gazebo2.2 to gazebo2.2.5
  
positive.code: FROM ubuntu:trusty
  
  MAINTAINER Jack Liu jacknlliu@gmail.com
  
  # setup environment
  RUN locale-gen en_US.UTF-8
  
negative.code: 
  RUN curl http://packages.osrfoundation.org/gazebo.key |apt-key add -
  
  RUN apt-get update -y && apt-get upgrade -y gazebo2
  
  
  # install essential tools
  RUN apt-get install -y -q --no-install-recommends  bash-completion wget vim git terminator supervisor xauth openssh-server sudo
  
  # install additional build tool
  RUN apt-get install -y -q --no-install-recommends build-essential gdb
  
  # install IDE essential packages
  RUN apt-get install -y -q --no-install-recommends mesa-common-dev libglu1-mesa-dev libfontconfig1 qt5-default qtcreator qtdeclarative5-qtquick2-plugin
  
  
  # setup ssh
  RUN mkdir -p /var/run/sshd && echo "X11UseLocalhost no" >> /etc/ssh/sshd_config
  
  # install intel graphics driver
  RUN apt-get install -y -q --no-install-recommends libgl1-mesa-glx libgl1-mesa-dri
  
  # install amd graphics open source driver
  RUN apt-get install -y -q --no-install-recommends mesa-vdpau-drivers xserver-xorg-video-ati mesa-utils
  
  # we should fix AMD graphics driver with image driver extension not found in ubuntu 14.04.2, refrence: https://wiki.ubuntu.com/Kernel/LTSEnablementStack#Ubuntu_14.04_LTS_-_Trusty_Tahr
  RUN apt-get install -y -q --no-install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial
  
  # install ros related components
  RUN apt-get install -y -q --no-install-recommends ros-indigo-moveit-full \
      ros-indigo-gazebo-ros-control \
      ros-indigo-ros-controllers \
      ros-indigo-rqt-controller-manager \
      ros-indigo-ur-description \
      ros-indigo-camera-calibration \
      ros-indigo-camera-calibration-parsers \
      ros-indigo-camera-info-manager
  
  # install orocos rtt components
  RUN apt-get install -y -q --no-install-recommends ros-indigo-orocos-kdl ros-indigo-rtt ros-indigo-rtt-*
  
  # apt-get autoclean
  RUN apt-get autoclean -y \
  