bellande_functionality_api/docker/Dockerfile.ros2

# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <https://www.gnu.org/licenses/>.

ARG ROS_ARCHITECTURE_VERSION=latest

FROM ubuntu:20.04 as base_build
SHELL [ "/bin/bash" , "-c" ]

ENV DEBIAN_FRONTEND noninteractive
ENV PYTHON_VERSION="3.8"

ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=main
ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD

ARG ROS_VERSION=foxy
ENV CATKIN_WS=/root/catkin_ws

LABEL maintainer=ronaldsonbellande@gmail.com
LABEL author=ronaldsonbellande@gmail.com
LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}

# Ubuntu setup
RUN apt-get update -y
RUN apt-get upgrade -y

# Set the working directory inside the Docker image
WORKDIR /

# Copy all files from the parent directory to the Docker image root
COPY ../ ./

# Create a directory for the requirements
RUN mkdir -p /requirements

# Copy specific files from the requirements directory to the "requirements" directory in the Docker image
COPY requirements/requirements.txt /requirements/requirements.txt
COPY requirements/system_requirements.txt /requirements/system_requirements.txt
COPY requirements/ros_requirements.txt /requirements/ros_requirements.txt
COPY requirements/ros_repository_requirements.txt /requirements/ros_repository_requirements.txt

# Install dependencies for system
RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
  && apt-get upgrade -y \
  && apt-get clean \
  && rm -rf /var/lib/apt/lists/*

# Install python 3.8 and make primary 
RUN apt-get update && apt-get install -y \
  python3.8 python3.8-dev python3-pip python3.8-venv \
  && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1

# Pip install update 
RUN pip3 install --upgrade pip

# Install python libraries
RUN pip --no-cache-dir install -r requirements.txt

# Install dependencies for ros system 
RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
  && rm -rf /var/lib/apt/lists/*

# Create local catkin workspace
RUN mkdir -p $CATKIN_WS/src
WORKDIR $CATKIN_WS/src

# Initialize local catkin workspace, install dependencies and build workpsace
RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
RUN source ~/.bashrc

RUN cd $CATKIN_WS \
  && rosdep init \
  && rosdep update \
  && rosdep update --rosdistro ${ROS_VERSION} \
  && rosdep fix-permissions \
  && rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_VERSION}

# Always source colcon_setup.sh when launching bash 
COPY ../scripts/colcon_setup.sh /usr/local/bin/colcon_setup.sh
RUN echo "source /usr/local/bin/colcon_setup.sh" >> /root/.bashrc
RUN chmod +x /usr/local/bin/colcon_setup.sh

ENTRYPOINT ["/usr/local/bin/colcon_setup.sh"]
CMD ["bash"]