FROM ubuntu:22.04

ENV DEBIAN_FRONTEND=noninteractive \
    ROS_DISTRO=humble \
    LANG=en_US.UTF-8 \
    LC_ALL=en_US.UTF-8

RUN apt-get update && apt-get install -y \
      curl gnupg2 lsb-release locales \
      software-properties-common \
      build-essential cmake git wget \
      python3-pip \
    && locale-gen en_US.UTF-8 \
    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
    && rm -rf /var/lib/apt/lists/*

RUN mkdir -p /root/ros2_humble \
 && cd /root/ros2_humble \
 && wget https://github.com/ros2/ros2/releases/download/release-humble-20230724/ros2-humble-20230724-linux-jammy-amd64.tar.bz2 \
 && tar xf ros2-humble-20230724-linux-jammy-amd64.tar.bz2

RUN add-apt-repository universe \
 && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
      -o /usr/share/keyrings/ros-archive-keyring.gpg \
 && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
      http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
      > /etc/apt/sources.list.d/ros2.list \
 && apt-get update \
 && apt-get install -y python3-rosdep python3-colcon-common-extensions \
 && rosdep init \
 && rosdep update

RUN apt-get upgrade -y \
 && rosdep install --from-paths /root/ros2_humble/ros2-linux/share --ignore-src -y \
      --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-6.0.1 urdfdom_headers"

RUN mkdir -p /root/fastdds_ws/src
WORKDIR /root/fastdds_ws/src

RUN git clone -b 2.6.3 https://github.com/eProsima/Fast-DDS.git fastdds
RUN git clone -b v1.0.25 https://github.com/eProsima/Fast-CDR.git fastcdr
RUN git clone -b 6.2.3 https://github.com/ros2/rmw_fastrtps.git rmw_fastrtps

SHELL ["/bin/bash", "-c"]
WORKDIR /root/fastdds_ws
RUN . /root/ros2_humble/ros2-linux/setup.bash \
    &&  rosdep install --from-paths src -y \
    && colcon build --symlink-install

RUN echo "source /root/ros2_humble/ros2-linux/setup.bash" >> /root/.bashrc \
 && echo "source /root/fastdds_ws/install/setup.bash" >> /root/.bashrc

ENTRYPOINT ["/bin/bash"]