Dockerfile-robot

FROM osrf/ros:humble-desktop

# Set environment variables
ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DOMAIN_ID=0
ENV LANG=en_US.UTF-8
# ENV LC_ALL=en_US.UTF-8

# Install common tools and domain_bridge
RUN apt-get update && apt-get install -y \
    ros-humble-domain-bridge \
    ros-humble-demo-nodes-cpp \
    ros-humble-octomap-msgs \
    python3-colcon-common-extensions \
    iputils-ping \
    net-tools \
    nano \
    git \
    && rm -rf /var/lib/apt/lists/*

# Create a workspace for additional packages (optional)
RUN mkdir -p /root/ws/src
WORKDIR /root/ws

# Clone Caric_msgs repository
RUN cd /root/ws/src && \
    git clone https://github.com/vvEverett/caric_msg.git

# Remove the ros1 sub-folder to avoid conflicts
RUN rm -rf /root/ws/src/caric_msg/ros1

# Build workspace in /root/ws
# RUN /bin/bash -c "cd /root/ws && \
#     source /opt/ros/humble/setup.bash && \
#     time colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"

# Source ROS in every shell
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
# RUN echo "source /root/ws/install/setup.bash" >> ~/.bashrc

# Build empty workspace (safe default)
# RUN . /opt/ros/humble/setup.bash && colcon build
COPY fastdds.xml /root/fastdds.xml

# Default command
CMD ["bash"]