r3_Dockerfile

FROM ghcr.io/open-rmf/rmf/rmf_demos:22_09

RUN apt-get update \
  && apt-get remove python3-starlette -y \
  && apt-get install -y \
    cmake \
    curl \
    git \
    python3-colcon-common-extensions \
    python3-vcstool \
    qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools \
    wget \
    python3-pip \
  && pip3 install flask-socketio fastapi uvicorn nudged websocket-client pyjwt \
  && rm -rf /var/lib/apt/lists/*

# setup keys
WORKDIR /fleet_adapter_r3_ws
RUN mkdir src

# This replaces: wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
    && apt-get upgrade -y \
    && rosdep update --rosdistro $ROS_DISTRO \
    && rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -yr \
    && rm -rf /var/lib/apt/lists/*

# colcon compilation
COPY fleet_adapter_r3 src/fleet_adapter_r3
RUN . /opt/ros/$ROS_DISTRO/setup.sh \
  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release 

# cleanup
RUN sed -i '$isource "/fleet_adapter_r3_ws/install/setup.bash"' /ros_entrypoint.sh

ENTRYPOINT ["/ros_entrypoint.sh"]