FROM ros:jazzy

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

# Stage any dual ROS1/ROS2 packages (e.g. livox_ros_driver2) for ROS2 without
# modifying their upstream source: generate package.xml from package_ROS2.xml so
# colcon can discover them. The ROS2 build is selected via -DROS_EDITION below.
# RUN for d in $(find /ros2_ws/src -type f -name package_ROS2.xml -exec dirname {} \;); do \
#       cp -f "$d/package_ROS2.xml" "$d/package.xml"; \
#     done

# 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 \
    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy

# 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"]