starbots-sim-gazebo

# This Docker image will contain everything necessary 
# for starting the Gazebo simulation in ROS2

# Start from ROS Humble desktop image
FROM osrf/ros:humble-desktop

# Use ARG to set DEBIAN_FRONTEND to noninteractive only during the build
ARG DEBIAN_FRONTEND=noninteractive

# Install necessary packages including apt-utils
RUN apt-get update && apt-get install -y \
    apt-utils \
    git \
    build-essential \
    python3-colcon-common-extensions \
    python3-rosdep \
    python3-rosinstall-generator \
    python3-vcstool \
    wget \
    # Add other necessary packages here
    ros-humble-gazebo-ros2-control \
    && rm -rf /var/lib/apt/lists/*

# It's generally a good idea to run rosdep update as a non-root user,
# but in Docker, we typically ignore this warning.
RUN rosdep update

# Create an overlay Colcon workspace
RUN /bin/bash -c "source /opt/ros/humble/setup.bash \
    && mkdir -p /ros2_ws/src \
    && cd /ros2_ws \
    && colcon build --symlink-install"
COPY /robot_ur3e_setup/ /ros2_ws/src/robot_ur3e_setup/
COPY /universal_robot_ros2/ /ros2_ws/src/universal_robot_ros2/
COPY /robot_ur3e_setup/ /ros2_ws/src/robot_ur3e_setup/
COPY /robot_ur3e_manipulation/ /ros2_ws/src/robot_ur3e_manipulation/

# Attempt to install dependencies, skipping the problematic package
RUN apt-get update && apt-get upgrade -y && \
    cd /ros2_ws && \
    rosdep install --from-paths src --ignore-src -r -y --skip-keys="ros-humble-warehouse-ros-mongo" || true

# Build the workspace
RUN /bin/bash -c "source /opt/ros/humble/setup.bash \
    && cd /ros2_ws \
    && colcon build --symlink-install \
    && source /ros2_ws/install/setup.bash \
    && echo 'source /ros2_ws/install/setup.bash' >> ~/.bashrc"

# Set up the work directory
WORKDIR /ros2_ws
# Set up the entrypoint
# CMD /bin/bash -c "source /ros2_ws/install/setup.bash \
#     && ros2 launch the_construct_office_gazebo starbots_ur3e.launch.xml