From b15d8d0d431e6522a57f964366213a4745f1f187 Mon Sep 17 00:00:00 2001
From: Johnson Sun <j3.soon777@gmail.com>
Date: Thu, 5 Sep 2024 14:29:18 +0800
Subject: [PATCH] fix(aloha_ws): Correctly setup Aloha Interbotix dependencies

---
 aloha_ws/docker/.bashrc    |  8 ++++++++
 aloha_ws/docker/Dockerfile | 25 ++++++++++++++++++-------
 2 files changed, 26 insertions(+), 7 deletions(-)

diff --git a/aloha_ws/docker/.bashrc b/aloha_ws/docker/.bashrc
index ed090d4a..bff349f4 100644
--- a/aloha_ws/docker/.bashrc
+++ b/aloha_ws/docker/.bashrc
@@ -26,5 +26,13 @@ if [ ! -f $ROS2_WS/install/setup.bash ]; then
     echo "Workspace built."
 fi
 # TODO: Source other workspace environments as underlay
+# Source Interbotix environment
+source ~/interbotix_ws/install/setup.bash
+# Source gazebo environment
+# Ref: https://github.com/Interbotix/interbotix_ros_manipulators/issues/81#issuecomment-1562118208
+# Ref: https://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#InstallGazebo
+if [ $(arch) == "x86_64" ]; then
+  source /usr/share/gazebo/setup.sh
+fi
 # Source workspace environment
 source $ROS2_WS/install/setup.bash
diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile
index 805e444d..27dd921e 100644
--- a/aloha_ws/docker/Dockerfile
+++ b/aloha_ws/docker/Dockerfile
@@ -84,20 +84,31 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
 #     apt-get update && apt-get install -y \
 #     $OTHER_PACKAGES \
 #     && rm -rf /var/lib/apt/lists/*
-# Install Aloha Interbotix dependencies
-# Ref: https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html#amd64-architecture
-# Ref: https://github.com/Interbotix/interbotix_ros_manipulators/blob/humble/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh
+# Install udevadm for later use
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y curl \
-    && curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/d07c17cc0f868bf1f59ee8d8fa844e273f4699ff/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh \
-    && chmod +x xsarm_amd64_install.sh \
-    && ./xsarm_amd64_install.sh -d humble \
+    apt-get update && apt-get install -y \
+    udev \
     && rm -rf /var/lib/apt/lists/*
 
 USER $USERNAME
 # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
 RUN mkdir /home/$USERNAME/.gazebo
 # TODO: Run additional commands as non-root user here
+
+# Install Aloha Interbotix dependencies
+# Ref: https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros2/software_setup.html#amd64-architecture
+# Ref: https://github.com/Interbotix/interbotix_ros_manipulators/blob/humble/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh
+# Set the `TERM` variable for the `tput` command in the `xsarm_amd64_install.sh` script.
+# TODO: The github repos are cloned in the script for simplicity.
+#       It would be better to copy the repos directly into the `aloha_ws/src` directory for future development.
+ENV TERM=xterm-256color
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    cd ~ \
+    && curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/d07c17cc0f868bf1f59ee8d8fa844e273f4699ff/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh' > xsarm_amd64_install.sh \
+    && chmod +x xsarm_amd64_install.sh \
+    && bash -ie ./xsarm_amd64_install.sh -d humble -n \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 COPY .bashrc /home/$USERNAME/.bashrc
 # TODO: Copy additional files here
 ENTRYPOINT []