# syntax=docker/dockerfile:1

# ── Stage 1: build ────────────────────────────────────────────────────────────
FROM ros:kilted AS builder

SHELL ["/bin/bash", "-c"]

RUN apt-get update && apt-get install -y --no-install-recommends \
    python3-colcon-common-extensions \
    && rm -rf /var/lib/apt/lists/*

WORKDIR /ws

# Source is managed as a git subtree — copy directly from the workspace
COPY lidar/sllidar_ros2/ src/sllidar_ros2/

RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
    colcon build --packages-select sllidar_ros2

# ── Stage 2: runtime ──────────────────────────────────────────────────────────
FROM ros:kilted-ros-core

RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-rclcpp \
    ros-${ROS_DISTRO}-sensor-msgs \
    ros-${ROS_DISTRO}-std-srvs \
    && rm -rf /var/lib/apt/lists/*

COPY --from=builder /ws/install /ws/install

# Source both ROS base and the workspace overlay on every shell/exec
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
    echo "source /ws/install/setup.bash"             >> /etc/bash.bashrc

# Reuse the same entrypoint as the robot container (sources overlays, starts daemon)
COPY docker-entrypoint.sh /docker-entrypoint.sh
RUN chmod +x /docker-entrypoint.sh

ENTRYPOINT ["/docker-entrypoint.sh"]
CMD ["ros2", "launch", "sllidar_ros2", "sllidar_a1_launch.py"]