FROM ubuntu:jammy


ARG USERNAME=nx
ARG USER_UID=1000
ARG USER_GID=$USER_UID
ENV HOME=/home/nx

RUN addgroup \
    --gid $USER_GID $USERNAME && adduser \
    --uid $USER_UID \
    --gid $USER_GID \
    --disabled-password \
    --gecos "$USERNAME user" $USERNAME

ARG DBF=noninteractive
ENV DEBIAN_FRONTEND=${DBF}


ENV MAKEFLAGS=-j4
ARG PW=10




ENV ROS2_DISTRO=humble
ENV ROS2_INSTALL_PATH=$HOME/ros2_ws
RUN mkdir -p $ROS2_INSTALL_PATH/src
ENV ROS2_INSTALL=$ROS2_INSTALL_PATH/install/setup.bash


#### GENERAL LINUX/ROS DEPENDENCIES
RUN apt-get update
RUN apt-get install -y \
    build-essential \
    cmake \
    curl \
    git \
    gnupg \
    locales \
    lsb-release \
    wget

RUN 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



#### INSTALL ROS2 HUMBLE FROM SRC
RUN apt install software-properties-common -y
RUN add-apt-repository universe -y
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN 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

# Install additional packages
RUN apt update && apt install -y \
    python3-flake8 \
    python3-flake8-blind-except \
    python3-flake8-builtins \
    python3-flake8-class-newline \
    python3-flake8-comprehensions \
    python3-flake8-deprecated \
    python3-flake8-docstrings \
    python3-flake8-import-order \
    python3-flake8-quotes \
    python3-pip \
    python3-pytest \
    python3-pytest-cov \
    python3-pytest-repeat \
    python3-pytest-rerunfailures \
    python3-rosdep \
    python3-setuptools \
    ros-dev-tools

# Install colcon from PyPI, rather than apt packages
RUN python3 -m pip install -U colcon-common-extensions vcstool


WORKDIR $ROS2_INSTALL_PATH
# RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

# RUN apt upgrade -y
# RUN rosdep init
RUN wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
RUN vcs import src < ros2.repos
RUN sudo rosdep init
RUN rosdep update

RUN rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
RUN colcon build --symlink-install --parallel-workers $PW




#### INSTALL ROS1 w/ ros-core-dev
RUN rm /etc/apt/sources.list.d/ros2.list && apt-get update -y

RUN apt remove -y \
    python3-catkin-pkg \
    python3-catkin-pkg-modules

RUN apt update && apt install -y \
    ros-core-dev




#### INSTALL ROS2 HUMBLE DEPENDENCIES FROM SRC
ARG ROSV=ros2
# primarily conflict with catkin-pkg-modules (rqd by ros-core-dev)
# systematically discovered ros2 dependencies installed from src
RUN apt install -y \ 
    libboost-python-dev \
    libboost-iostreams-dev \
    libceres-dev \
    libgraphicsmagick++1-dev \
    libompl-dev \
    libpcl-dev \
    libxtensor-dev \
    libzmq3-dev \
    libgazebo-dev 


WORKDIR $HOME
COPY ./rosbridge_general_update_ament.sh .


#### COPY CUSTOM_BRIDGE
WORKDIR $HOME
COPY ./custom_bridge_ros1_ws $HOME/custom_bridge_ros1_ws
WORKDIR $HOME/custom_bridge_ros1_ws
RUN bash -c "catkin_make"




#### COPY NEW BRIDGE WS
COPY ./custom_bridge_ros2_ws $HOME/custom_bridge_ros2_ws
WORKDIR $HOME/custom_bridge_ros2_ws
RUN bash -c "source $HOME/ros2_ws/install/setup.bash && colcon build --symlink-install" 


RUN mkdir -p $HOME/.ros/log && \
    chown -R $USERNAME:$USERNAME $HOME/.ros && \
    chmod -R 755 $HOME/.ros

RUN chown -R $USERNAME:$USERNAME $HOME/custom_bridge_ros1_ws && \
    chmod -R 755 $HOME/custom_bridge_ros1_ws

RUN chown -R $USERNAME:$USERNAME $HOME/custom_bridge_ros2_ws && \
    chmod -R 755 $HOME/custom_bridge_ros2_ws




#### INSTALL ROS1_BRIDGE
ARG ROS1_BRIDGE_ROOT_DIR=$HOME/ros1_bridge_ws
ENV ROS1_BRIDGE_ROOT_DIR=$ROS1_BRIDGE_ROOT_DIR

ARG ROS1_BRIDGE_INSTALL_DIR=$ROS1_BRIDGE_ROOT_DIR/src
ENV ROS1_BRIDGE_INSTALL_DIR=$ROS1_BRIDGE_INSTALL_DIR

WORKDIR $ROS1_BRIDGE_INSTALL_DIR
RUN git clone https://github.com/ros2/ros1_bridge
# update cmakelist of ros1_bridge to cpp17
RUN sed -i 's/# Default to C++14/# Default to C++17/' ${ROS1_BRIDGE_INSTALL_DIR}/ros1_bridge/CMakeLists.txt
RUN sed -i 's/set(CMAKE_CXX_STANDARD 14)/set(CMAKE_CXX_STANDARD 17)/' ${ROS1_BRIDGE_INSTALL_DIR}/ros1_bridge/CMakeLists.txt

WORKDIR $ROS1_BRIDGE_ROOT_DIR


#### BUILD/COMPILE ROS1_BRIDGE
RUN bash -c "source $HOME/custom_bridge_ros1_ws/devel/setup.bash &&\
    source $HOME/ros2_ws/install/setup.bash &&\
    source $HOME/custom_bridge_ros2_ws/install/setup.bash &&\
    colcon build --packages-select ros1_bridge --cmake-force-configure --parallel-workers 12"