Dockerfile.simulation

ARG ROS_DISTRO=humble
ARG PREFIX=

FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core

ARG PREFIX

# select bash as default shell
SHELL ["/bin/bash", "-c"]

ENV IGNITION_VERSION fortress
ENV HUSARION_ROS_BUILD simulation

WORKDIR /ros2_ws

COPY ./healthcheck.cpp /

# install everything needed
RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
    apt-get update --fix-missing && apt-get install -y \
        python3-pip \
        python3-colcon-common-extensions \
        python3-rosdep \
        python3-vcstool \
        ros-$ROS_DISTRO-teleop-twist-keyboard \
        git && \
    apt-get upgrade -y && \
    # build & install ROSbot XL packages
    source "/opt/$MYDISTRO/$ROS_DISTRO/setup.bash" && \
    git clone https://github.com/husarion/rosbot_xl_ros.git /ros2_ws/src && \
    vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos && \
    vcs import src < src/rosbot_xl/rosbot_xl_simulation.repos && \
    # without this line (using vulcanexus base image) rosdep init throws error: "ERROR: default sources list file already exists:"
    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
    rosdep init && \
    rosdep update --rosdistro $ROS_DISTRO && \
    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
    # Create healthcheck package
    cd src/ && \
    ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp nav_msgs && \
    sed -i '/find_package(nav_msgs REQUIRED)/a \
            add_executable(healthcheck_node src/healthcheck.cpp)\n \
            ament_target_dependencies(healthcheck_node rclcpp nav_msgs)\n \
            install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt && \
    mv /healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/ && \
    cd .. && \
    # Build
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
    # Save version
    echo $(cat /ros2_ws/src/rosbot_xl_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
    # Size optimalization
    rm -rf build log src && \
    export SUDO_FORCE_REMOVE=yes && \
    apt-get remove -y \
        python3-pip \
        python3-colcon-common-extensions \
        python3-rosdep \
        python3-vcstool \
        git && \
    apt-get autoremove -y && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Run healthcheck in background
RUN entrypoint_file=$(if [ -f "/ros_entrypoint.sh" ]; then echo "/ros_entrypoint.sh"; else echo "/vulcanexus_entrypoint.sh"; fi) && \
    sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
            ros2 run healthcheck_pkg healthcheck_node &' \
            $entrypoint_file

COPY ./healthcheck.sh /
HEALTHCHECK --interval=2s --timeout=1s --start-period=30s --retries=1 \
    CMD ["/healthcheck.sh"]