Dockerfile.GUI

FROM ros:humble-ros-core-jammy

ARG DEBIAN_FRONTEND=noninteractive

ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV ROS_DISTRO=humble
ENV USERNAME=spaceros-user
ENV HOME=/home/spaceros-user
ENV IGNITION_VERSION=fortress
ENV GZ_VERSION=fortress

# Install dependencies
RUN apt update && apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
    wget \
    curl \
    && apt clean  \
    && rm -rf /var/lib/apt/lists/*

RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\
    && echo "deb [arch=amd64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

# Install Gazebo
RUN apt-get update -qq \
    && apt-get install -y \
    gz-${GZ_VERSION} \
    libgz-sim7 \
    libgz-transport12 \
    libgz-gui7 \
    build-essential\
    ros-${ROS_DISTRO}-rcl-interfaces\
    ros-${ROS_DISTRO}-rclcpp\
    ros-${ROS_DISTRO}-builtin-interfaces\
    ros-${ROS_DISTRO}-ros-gz\
    ros-${ROS_DISTRO}-sdformat-urdf\
    ros-${ROS_DISTRO}-vision-msgs\
    ros-${ROS_DISTRO}-actuator-msgs\
    ros-${ROS_DISTRO}-image-transport\
    ros-${ROS_DISTRO}-xacro\
    && rm -rf /var/lib/apt/lists/*


# Install Rviz2
RUN apt-get update -qq \
    && apt-get install -y \
    ros-${ROS_DISTRO}-rviz2 \
    ros-${ROS_DISTRO}-moveit-ros-visualization \
    ros-${ROS_DISTRO}-nav2-rviz-plugins \
    && rm -rf /var/lib/apt/lists/*

# Demo package
RUN mkdir -p ${HOME}/canadarm2_ws/src
WORKDIR ${HOME}/canadarm2_ws/src
COPY ./canadarm_description ./canadarm_description
COPY ./canadarm_gazebo ./canadarm_gazebo
COPY .defaults.yaml ${HOME}/canadarm2_ws/.defaults.yaml

RUN apt update \
    && apt install -y python3-rosdep python3-colcon-common-extensions \
    && apt clean \
    && rm -rf /var/lib/apt/lists/* \
    && rosdep init \
    && rosdep update

RUN . /opt/ros/humble/setup.sh \
    && cd ${HOME}/canadarm2_ws \
    && apt update \
    && rosdep install --from-paths src --ignore-src -r -y \
    && colcon build

WORKDIR ${HOME}/canadarm2_ws

RUN apt update && apt install -y ros-humble-ros-ign-gazebo
RUN echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
RUN echo "source ${HOME}/canadarm2_ws/install/setup.bash" >> ${HOME}/.bashrc

CMD ign gazebo