Dockerfile.ros2

# Set the base image
ARG ROS_DISTRO=humble

# Use the official ROS desktop image
FROM osrf/ros:$ROS_DISTRO-desktop

# Arguments
ARG USER_NAME=user
ARG USER_PASSWORD
ARG USER_UID=1000
ARG USER_GID=1000

# Create a user with USER_NAME and give sudo privileges
RUN groupadd -g $USER_GID $USER_NAME && \
    useradd -m -s /bin/bash -u $USER_UID -g $USER_GID $USER_NAME && \
    usermod -aG dialout $USER_NAME && \
    usermod -aG video $USER_NAME && \
    if [ -n "$USER_PASSWORD" ]; then \
        echo "$USER_NAME:$USER_PASSWORD" | chpasswd && \
        echo "$USER_NAME ALL=(ALL) ALL" >> /etc/sudoers.d/$USER_NAME && \
        chmod 0440 /etc/sudoers.d/$USER_NAME; \
    else \
        echo "$USER_NAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USER_NAME && \
        chmod 0440 /etc/sudoers.d/$USER_NAME; \
    fi

# Install the required packages
RUN apt-get update && apt-get install -y \
    python3-pip \
    nano

# Copy the requirements.txt file
COPY requirements.txt /tmp/requirements.txt

# Install Python packages
RUN pip3 install -r /tmp/requirements.txt

# Set the user
USER $USER_NAME

# Set the working directory
WORKDIR /home/$USER_NAME

# Copy the ros_ws/src directory
COPY --chown=$USER_NAME:$USER_NAME ros_ws/src /home/$USER_NAME/ros_ws/src

# Build the package
RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && \
                  cd /home/$USER_NAME/ros_ws && \
                  rosdep update && \
                  rosdep install --from-paths src --ignore-src -r -y && \
                  colcon build --symlink-install"

# Set the environment variables
RUN echo "\n# Set the environment variables" >> ~/.bashrc && \
    echo "export PATH=/home/$USER_NAME/.local/bin:\$PATH" >> ~/.bashrc && \
    echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc && \
    echo "source /home/$USER_NAME/ros_ws/install/local_setup.bash" >> ~/.bashrc

# Set the entrypoint
CMD ["/bin/bash"]