FROM ros:kilted-ros-core

RUN apt-get update && apt-get install -y --no-install-recommends \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    python3-gi \
    gir1.2-gstreamer-1.0 \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /app
COPY camera_publisher.py .
COPY entrypoint.sh .
RUN chmod +x entrypoint.sh

ENV VIDEO_DEVICE=/dev/video0
ENV WIDTH=640
ENV HEIGHT=480
ENV FPS=30
ENV CAMERA_FORMAT=raw
ENV CAMERA_NAMESPACE=/camera

ENTRYPOINT ["./entrypoint.sh"]