Dockerfile.humble

FROM ripl/libbot2:22.04

# set Ubuntu codename
# ENV UBUNTU_DISTRIB_CODENAME "focal"

# set ROS codename
ENV ROS_DISTRO "humble"

# set default ROS master hostname
ENV ROS_MASTER_HOST "localhost"

# Make sure locale supports UTF-8
RUN apt-get update && apt-get install locales && \
    locale-gen en_US en_US.UTF-8 && \
    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8

# update apt lists and install dependencies
RUN apt-get update && apt-get install -y \
    curl \
    lsb-release \
    software-properties-common

RUN add-apt-repository universe

# add the ROS 2 GPG key and add repository to sources list
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

ENV DEBIAN_FRONTEND=noninteractive

# From ROS documentation:
# Due to early updates in Ubuntu 22.04 it is important that systemd and
# udev-related packages are updated before installing ROS 2. 
# The installation of ROS 2’s dependencies on a freshly installed system 
# without upgrading can trigger the removal of critical system packages.
RUN apt-get upgrade -y

# update apt lists and install system libraries, then clean the apt cache
RUN apt-get update  && apt-get install -y \
    ros-$ROS_DISTRO-desktop \
    # clean the apt cache
    && rm -rf /var/lib/apt/lists/*

# source ROS
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc

# copy and set entrypoint
COPY assets/entrypoint.sh /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]