FROM ros:jazzy

# Create the workspace and copy all source directories into it
WORKDIR /ros2_ws
COPY . /ros2_ws/src/

# Install dependencies with rosdep
RUN apt-get update && \
    rosdep update && \
    rosdep install --from-paths src --ignore-src -r -y && \
    rm -rf /var/lib/apt/lists/*

# Build the workspace with symlink install
RUN . /opt/ros/jazzy/setup.sh && \
    colcon build --symlink-install

# Source the overlay on container startup
RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
    echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc

CMD ["bash"]