Dockerfile.debian11

ARG from=debian:11-slim

FROM ${from}

ARG CMAKE_INSTALL_PREFIX=/usr/local
ARG NUM_THREADS=8

# Avoid warnings by switching to noninteractive
ENV DEBIAN_FRONTEND=noninteractive

# Update all packages
RUN apt-get update && apt-get -y dist-upgrade \
  && \
  : "remove cache" && \
  rm -rf /var/lib/apt/lists/*

# install system dependencies
RUN apt-get update -y -qq && \
  : "system dependencies" && \
  apt-get install -y -qq \
  \
  acl \
  aptitude \
  autoconf \
  automake \
  build-essential \
  cmake \
  curl \
  dnsutils \
  git \
  gnupg2 \
  intltool \
  libacl1-dev \
  libasio-dev \
  libblosc1 \
  libbondcpp-dev \
  libcgal-dev \
  libeigen3-dev \
  libfmt-dev \
  liblttng-ust-dev lttng-tools python3-lttng \
  libssl-dev \
  libtinyxml-dev \
  libtinyxml2-dev \
  libxml2-utils \
  lsb-release \
  mlocate \
  pkg-config \
  python3-jinja2 \
  python3-lark \
  python3-lxml \
  python3-netifaces \
  python3-numpy \
  python3-pip \
  python3-psutil \
  python3-pygraphviz \
  python3-typeguard \
  software-properties-common \
  tar \
  unzip \
  wget \
  && \   
  : "remove cache" && \
  rm -rf /var/lib/apt/lists/*

# add the ROS 2 GPG key with apt and setup sources.list
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
  sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' && \
  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

# setup environment
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8
ARG ROS_DISTRO
# Environment variables defined using the ENV instruction always override an ARG instruction of the same name. 
ENV ROS_DISTRO=${ROS_DISTRO:-rolling}

# ros-base include begin
# https://github.com/osrf/docker_images/blob/master/ros/galactic/ubuntu/focal/ros-core/Dockerfile
# https://github.com/osrf/docker_images/blob/master/ros/iron/ubuntu/jammy/ros-base/Dockerfile

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
  python3-colcon-common-extensions \
  python3-colcon-mixin \
  python3-rosdep \
  python3-vcstool \
  python3-pydocstyle \
  python3-flake8 \
  python3-coverage \
  && \
  : "remove cache" && \
  rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init && \
  rosdep update --rosdistro $ROS_DISTRO

# setup colcon mixin and metadata
RUN colcon mixin add default \
  https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
  colcon mixin update && \
  colcon metadata add default \
  https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
  colcon metadata update

# install dependencies via apt
ENV DEBCONF_NOWARNINGS=yes

# install and activate ccache, lld, cppcheck
RUN \
  : "install ccache" \
  && apt-get update -y -qq \
  && apt-get -y install --no-install-recommends ccache lld cppcheck \ 
  && /usr/sbin/update-ccache-symlinks \
  && \
  : "remove cache" && \
  rm -rf /var/lib/apt/lists/*

# install cmake 3.22.1 (the same version as Ubuntu Jammy default). Needed for RSL
RUN \
  cd && \
  wget https://github.com/Kitware/CMake/releases/download/v3.22.1/cmake-3.22.1-linux-x86_64.tar.gz && \
  cd /usr && \
  tar --strip-components=1 -xzf ~/cmake-3.22.1-linux-x86_64.tar.gz  && \
  rm ~/cmake-3.22.1-linux-x86_64.tar.gz

# ---- ROS ----
# clone source, ROS core
ENV ROS2_WS=/opt/ros2_ws
RUN mkdir -p $ROS2_WS/src
WORKDIR $ROS2_WS
ADD ros-controls.$ROS_DISTRO.repos .
RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO/ros2.repos src &&\
  vcs import src < ros-controls.$ROS_DISTRO.repos
# build source, ROS core
RUN colcon \
    build \
    --mixin release build-testing-off \
    --cmake-args --no-warn-unused-cli \
    --packages-up-to robot_state_publisher tf2_ros tf2_eigen tf2_kdl tf2_eigen_kdl yaml_cpp_vendor filters \
      ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch ros2run \
      xacro diagnostic_updater backward_ros generate_parameter_library angles \
      ackermann_msgs trajectory_msgs tf2_msgs tf2_geometry_msgs sensor_msgs geometry_msgs nav_msgs && \
    rm -rf log src build

# add default.yaml to the image
ADD defaults.yaml /root/.colcon/defaults.yaml

# set up sourcing of ros
COPY ./ros_entrypoint.sh /
ENTRYPOINT [ "/ros_entrypoint.sh" ]
CMD ["bash"]