Dockerfile.rov

FROM arm64v8/ros:humble-perception

ENV DEBIAN_FRONTEND noninteractive
ENV SHELL /bin/bash
SHELL ["/bin/bash", "-c"] 

WORKDIR /tmp

RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential \
    software-properties-common \
    wget \
    libi2c-dev \
    vim

# install gstreamer
RUN add-apt-repository universe && apt-get update && \
    apt-get install -y --no-install-recommends \
    libgstreamer1.0-0 \
    libgstreamer1.0-dev \
    libgstreamer-plugins-bad1.0-0 \
    libgstreamer-plugins-base1.0-0 \
    libgstreamer-plugins-base1.0-dev \
    libgstreamer1.0 \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    libgtk-3-dev \
    gstreamer1.0-x && \
# install v4l2
    apt-get install -y libv4l-dev v4l-utils && \
    apt-get install -y libopenjp2-7 \
    libopenjp2-7-dev \
    libglew-dev \
    libtiff5-dev \
    libdc1394-dev \
    zlib1g-dev \
    libjpeg-dev \
    libpng-dev \
    libavcodec-dev \
    libavformat-dev \
    libavutil-dev \
    libpostproc-dev \
    libswscale-dev \
    libeigen3-dev \
    libtbb2 \
    libtbb-dev \
    libgtk2.0-dev \
    pkg-config \
    qv4l2 \
    libtesseract4 \
    unzip \
    python3-pip \
    libssh-dev \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

# install common python packages
RUN python3 -m pip install \
    dbus-next \
    evdev \
    transitions

# Location where source files will be copied in and built
WORKDIR /opt/ros/CSM_MATE_WS

COPY src .

RUN export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources && \ 
    source /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build --symlink-install --packages-up-to \
    rov_launch \
    --cmake-args --no-warn-unused-cli -D DEBUG_OUTPUT=False

# Copy over initial run stuff.
# Entrypoint can more or less be understood as "run this no matter what". It sources the ROS install.
# CMD is the "go" button, and can be overriden
# setup entrypoint
# COPY ./setup/ros_entrypoint_common.sh /ros_entrypoint.sh
# RUN chmod +x /ros_entrypoint.sh
# ENTRYPOINT [ "/ros_entrypoint.sh" ]
# CMD ["ros2", "launch", "rov_launch", "rov.launch.py"] # auto start code
CMD ["/bin/bash"]