FROM ubuntu:24.04

ENV DEBIAN_FRONTEND=noninteractive

# Install ROS2
RUN apt update && \
    apt install software-properties-common -y && \
    add-apt-repository universe && \
    apt update && \
    apt install curl -y && \
    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
    apt-get clean && rm -rf /var/lib/apt/lists/

# Install build dependencies
RUN apt-get update && \
    apt upgrade -y && \
    apt-get install -y \
      git \
      wget \
      libtbb-dev \
      libproj-dev \
      libpcl-dev \
      liboctomap-dev \
      libfreenect-dev \
      ros-rolling-ros-base \
      ros-dev-tools \
      ros-rolling-cv-bridge \
      ros-rolling-image-geometry \
      ros-rolling-laser-geometry \
      ros-rolling-pcl-conversions \
      ros-rolling-rviz-common \
      ros-rolling-rviz-rendering \
      ros-rolling-rviz-default-plugins \
      ros-rolling-pcl-ros \
      ros-rolling-imu-filter-madgwick \
      ros-rolling-image-transport \
      ros-rolling-octomap-msgs \
      ros-rolling-libg2o \
      ros-rolling-gtsam \
      ros-rolling-libpointmatcher \
      ros-rolling-qt-gui-cpp \
      ros-rolling-diagnostic-updater && \
    apt-get clean && rm -rf /var/lib/apt/lists/

WORKDIR /root/

RUN rm /bin/sh && ln -s /bin/bash /bin/sh

RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
RUN chmod +x /ros_entrypoint.sh
ENTRYPOINT [ "/ros_entrypoint.sh" ]

# ros2 seems not sourcing by default its multi-arch folders
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu

# For devcontainer
# remove ubuntu user
RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu

RUN apt-get update && apt-get install -y sudo && \
    apt-get clean && rm -rf /var/lib/apt/lists/

ARG USERNAME=vscode
ARG USER_UID=1000
ARG USER_GID=1000

RUN set -ex && \
    groupadd --gid ${USER_GID} ${USERNAME} && \
    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
    usermod -a -G sudo ${USERNAME} && \
    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
    chmod 0440 /etc/sudoers.d/${USERNAME}

RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc