Dockerfile.deploy

# syntax=docker/dockerfile:1.7-labs
FROM ros:humble

SHELL ["/bin/bash", "-c"]

# Set up CEV user
RUN useradd -m -s /bin/bash cev
RUN usermod -aG sudo cev
# Grant passwordless sudo access to the 'sudo' group
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
USER cev

# Docker doesn't do this by default
RUN sudo chown -R cev /home/cev


ARG FOLDER_NAME=rc-brain
ARG WORKSPACE_DIR=/home/cev
WORKDIR $WORKSPACE_DIR

# Source the ROS2 environment automatically when a new shell is created
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
RUN echo "source $WORKSPACE_DIR/install/setup.bash" >> ~/.bashrc

# Init rosdep and update package index
RUN sudo apt-get update
RUN rosdep update --rosdistro $ROS_DISTRO

# Install and build build-from-source packages
# We do this as a separate step from the stuff for our code, since that changes more frequently
COPY --chown=cev --parents external/**/package.xml src/$FOLDER_NAME/
RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y

# Run install_extra.sh, which installs additional dependencies
COPY --chown=cev scripts/install_extra.sh src/$FOLDER_NAME/scripts/
RUN sudo src/$FOLDER_NAME/scripts/install_extra.sh

# Finally build external packages
COPY --chown=cev external src/$FOLDER_NAME/external/
RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install

# Install all other dependencies
COPY --chown=cev --parents **/package.xml src/$FOLDER_NAME/
RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosdep install --from-paths src -r -y

# Clean up apt cache to make container smaller
RUN sudo apt-get clean

# Build
COPY --chown=cev . src/$FOLDER_NAME
RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install

ENTRYPOINT ["/bin/bash", "/home/cev/src/rc-brain/scripts/deployed_entrypoint.sh"]