# Everything past this stage is to install
# ROS2 Humble

# What is the docker name suffix for the base image to load? (defaults to empty string)
ARG DOCKER_NAME_SUFFIX=""

FROM isaac-lab-base${DOCKER_NAME_SUFFIX} AS ros2

# Which ROS2 apt package to install
ARG ROS2_APT_PACKAGE

# ROS2 Humble Apt installations
RUN --mount=type=cache,target=/var/cache/apt \
    apt-get update && apt-get install -y --no-install-recommends \
    curl \
    # Install ROS2 Humble \
    software-properties-common && \
    add-apt-repository universe && \
    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo jammy) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
    apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-${ROS2_APT_PACKAGE} \
    ros-humble-vision-msgs \
    # Install both FastRTPS and CycloneDDS
    ros-humble-rmw-cyclonedds-cpp \
    ros-humble-rmw-fastrtps-cpp \
    # This includes various dev tools including colcon
    ros-dev-tools && \
    # Install rosdeps for extensions that declare a ros_ws in
    # their extension.toml
    ${ISAACLAB_PATH}/isaaclab.sh -p ${ISAACLAB_PATH}/tools/install_deps.py rosdep ${ISAACLAB_PATH}/source && \
    apt -y autoremove && apt clean autoclean && \
    rm -rf /var/lib/apt/lists/* && \
    # Add sourcing of setup.bash to .bashrc
    echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc

# Copy the RMW specifications for ROS2
# https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html
COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/