Dockerfile.binary

ARG VERSION=0.2.3
ARG DISTRO=focal
ARG BASE_IMAGE=nvidia/opengl:1.2-glvnd-runtime-ubuntu20.04

FROM lmark1/uav_ros_stack:$DISTRO-bin-$VERSION

# https://blog.alexellis.io/mutli-stage-docker-builds/ - Neat!
FROM $BASE_IMAGE

# Use ARG - persists only during docker build
# https://github.com/moby/moby/issues/4032#issuecomment-192327844
ARG CATKIN_WORKSPACE=sim_ws
ARG HOME=/root
ARG USER=root
ENV DEBIAN_FRONTEND=noninteractive
ENV GITHUB_RUNNER=true
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections

# Install all the things to stop docker build from breaking
RUN ln -fs /usr/share/zoneinfo/Europe/Zagreb /etc/localtime && \
    apt-get update && apt-get install -q -y \
    git \
    sudo \
    lsb-release \
    gnupg2 \
    apt-utils \
    dialog \
    curl \
    vim \
    tzdata \
    openssh-client \
    vim \
    git \
    bash-completion && \
    dpkg-reconfigure --frontend noninteractive tzdata

# download public key for github.com
RUN mkdir -p -m 0600 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts

# Install uav_ros_simulation and setup catkin workspace
WORKDIR $HOME
COPY --from=0 $HOME/uav_ws $HOME/uav_ws

RUN --mount=type=ssh git clone git@github.com:larics/uav_ros_simulation.git && \
  ./uav_ros_simulation/installation/install_and_setup_workspace.sh --workspace $CATKIN_WORKSPACE --sparse

# Build catkin workspace
WORKDIR $HOME/$CATKIN_WORKSPACE/src
SHELL ["/bin/bash", "-c"]

# Add sourcing
RUN echo "source $HOME/uav_ws/install/setup.bash" >> $HOME/.bashrc && \
  # 1) remove uav_ws sourcing, need to add it after..
  sed -i "s|source $HOME/$CATKIN_WORKSPACE/devel/setup.bash||g" $HOME/.bashrc

# Build
RUN source /root/.bashrc && \
  catkin clean --yes && \
  catkin config --extend /root/uav_ws/install && \
  catkin build --limit-status-rate 0.2

# 2) .. add source sim_ws NOW
RUN echo "source $HOME/$CATKIN_WORKSPACE/devel/setup.bash" >> $HOME/.bashrc && \
  # 3) Expose uav_ws packages
  echo 'export ROS_PACKAGE_PATH='"$HOME"'/uav_ws/install/share:$ROS_PACKAGE_PATH' >> $HOME/.bashrc
 
# Prepare for startup
WORKDIR $HOME/uav_ros_simulation/startup/kopterworx_one_flying