ARG ROS_DISTRO=foxy
FROM ros:${ROS_DISTRO}

ENV DEBIAN_FRONTEND noninteractive

RUN apt-get clean
RUN apt-get update && apt-get install -y \
    lsb  \
    unzip \
    wget \
    curl \
    xterm \
    devilspie \
    xfce4-terminal \
    vim \
    nmap

RUN apt-get install -y ros-foxy-rmw-fastrtps-cpp
RUN apt-get install -y ros-foxy-desktop
ENV QT_X11_NO_MITSHM=1

RUN . /opt/ros/foxy/setup.sh

ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

RUN echo 'export RMW_IMPLEMENTATION=rmw_fastrtps_cpp' >> /root/.bashrc
RUN echo 'source /opt/ros/foxy/setup.bash ' >> /root/.bashrc

# INSTALL FASTDDS Latest (2.9.1 ~)
RUN apt-get install -y cmake g++ python3-pip wget git
RUN apt-get install -y  libasio-dev libtinyxml2-dev
RUN apt-get install -y libssl-dev  python3-pip
RUN python3 -m pip install --upgrade pip && python3 -m pip install colcon-common-extensions vcstool
RUN mkdir -p /home/Fast-DDS/src
WORKDIR /home/Fast-DDS
RUN wget https://raw.githubusercontent.com/eProsima/Fast-DDS/master/fastrtps.repos
RUN vcs import src < fastrtps.repos
RUN colcon build
RUN . /home/Fast-DDS/install/setup.sh
RUN echo 'source /home/Fast-DDS/install/setup.bash ' >> /root/.bashrc

# Copy configuration files
COPY fastdds-client.xml /home/fastdds-client-default.xml
RUN python3 -m pip install boto3 lxml
COPY config.py /home/config.py

WORKDIR /

##########
# Custom Setting
##########

# Add the application source file to the entrypoint.
RUN echo  "#!/bin/bash \n\
set -e \n\
export ROS_DOMAIN_ID=0 \n\
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp \n\
python3 /home/config.py \n\
export ROS_DISCOVERY_SERVER=\"${Server_IP_ADDR}:9843\" \n\
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/fastdds-client.xml \n\
source /opt/ros/foxy/setup.bash \n\
source /home/Fast-DDS/install/setup.bash \n\
source /root/.bashrc \n" > /entrypoint.sh
RUN echo 'exec "$@" ' >> /entrypoint.sh
RUN cat /entrypoint.sh
RUN sudo chmod +x /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]