FROM ubuntu:jammy-20221020

RUN apt-get update
ARG DEBIAN_FRONTEND=noninteractive
RUN apt install -y tzdata
RUN apt install -y keyboard-configuration

RUN apt install -y gnupg2
RUN apt install -y lsb-core 

RUN apt install -y python3-minimal
RUN test -f /usr/bin/python || ln -s $(which python3) /usr/bin/python
RUN apt install -y python3-pip
RUN test -f /usr/bin/pip || ln -s $(which pip3) /usr/bin/pip
RUN pip install --upgrade pip
RUN pip install awscli
RUN pip install boto3
RUN pip install kafka-python
RUN pip install redshift_connector
RUN pip install numpy
RUN pip install pyquaternion
RUN pip install open3d
RUN pip install scipy

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt-get update

RUN apt install -y python3-opencv
RUN apt install -y python3-colcon-common-extensions
RUN apt install -y ros-humble-desktop 
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
RUN /bin/bash -c "source ~/.bashrc"
RUN apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
RUN apt install -y python3-rosdep

RUN rosdep init
RUN rosdep update
RUN apt install -y ros-humble-rosbridge-suite
RUN apt install -y ros-humble-rosbag2-storage-mcap
RUN apt install -y ros-humble-rosbridge-server

ENV ROS_VERSION=2
ENV ROS_PYTHON_VERSION=3
ENV AMENT_PREFIX_PATH=/opt/ros/humble
ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
ENV LD_LIBRARY_PATH=/opt/ros/humble/opt/yaml_cpp_vendor/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
ENV ROS_LOCALHOST_ONLY=0
ENV PATH=/opt/ros/humble/bin:$PATH
ENV ROS_DISTRO=humble


RUN apt install -y vim
COPY src /mozart
COPY bin/*.sh /usr/local/bin/

RUN echo $PYTHONPATH 
COPY colcon_ws /colcon_ws
RUN rm -rf /colcon_ws/build /colcon_ws/install /colcon_ws/log
RUN cd /colcon_ws &&  colcon build 

ENV AMENT_PREFIX_PATH=/colcon_ws/install/a2d2_msgs:/colcon_ws/install/fordav_msgs:${AMENT_PREFIX_PATH}
ENV PYTHONPATH=/colcon_ws/install/a2d2_msgs/local/lib/python3.10/dist-packages:/colcon_ws/install/fordav_msgs/local/lib/python3.10/dist-packages:${PYTHONPATH}
ENV LD_LIBRARY_PATH=/colcon_ws/install/a2d2_msgs/lib:/colcon_ws/install/fordav_msgs/lib:${LD_LIBRARY_PATH}