FROM osrf/ros:jazzy-desktop-full
ARG USERNAME=USERNAME
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi

# Create the user
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
    #
    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
    && apt-get update \
    && apt-get install -y --no-install-recommends sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME \
    && rm -rf /var/lib/apt/lists/*

# Make sure the base image is completely up to date
RUN apt-get update \
    && apt-get upgrade -y \
    && rm -rf /var/lib/apt/lists/*


# C++ development tools
RUN apt-get update \
    && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    gdb \
    clang \
    clang-format \
    clang-tidy \
    libboost-all-dev \
    && rm -rf /var/lib/apt/lists/*

# Python development tools
RUN apt-get update \
    && apt-get install -y --no-install-recommends \
    python3-pip \
    python3-dev \
    python3-argcomplete \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# Optional: pre-install apt dependencies resolved from rosdep on a previous run.
COPY .devcontainer/jazzy/ /tmp/devcontainer-jazzy/

RUN apt-get update \
    && if [ -f /tmp/devcontainer-jazzy/rosdep-apt-packages.txt ]; then \
    grep -Ev '^\s*($|#)' /tmp/devcontainer-jazzy/rosdep-apt-packages.txt | xargs -r apt-get install -y --no-install-recommends; \
    fi \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update \
    && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
    && rm -rf /var/lib/apt/lists/*

# ROS 2 ament build tools
# RUN apt-get install -y \
#     ros-${ROS_DISTRO}-ament-cmake \
#     ros-${ROS_DISTRO}-ament-cmake-auto \
#     ros-${ROS_DISTRO}-ament-python \
#     ros-${ROS_DISTRO}-ament-lint-auto \
#     ros-${ROS_DISTRO}-ament-lint-common

ENV SHELL=/bin/bash

# [Optional] Set the default user. Omit if you want to keep the default as root.
USER $USERNAME
CMD ["/bin/bash"]