Dockerfile.l4t

## The l4t image is necessary for using the gpu on the jetson with nvidia-runtime-container.

ARG BASE_IMAGE="nvcr.io/nvidia/l4t-base:r32.6.1"

FROM ${BASE_IMAGE}

ARG BUILD_DATE
ARG VERSION
ARG SONIA_USER=sonia
ARG SONIA_UID=50000
ARG BASE_LIB_NAME=sonia_common

LABEL maintainer="club.sonia@etsmtl.net"
LABEL net.etsmtl.sonia-auv.base_lib.build-date=${BUILD_DATE}
LABEL net.etsmtl.sonia-auv.base_lib.version=${VERSION}
LABEL net.etsmtl.sonia-auv.base_lib.name=${BASE_LIB_NAME}

# System Specific
ENV DEBIAN_FRONTEND=noninteractive

# ROS Specific
ENV LANG=C.UTF-8
ENV LC_ALL=C.UTF-8
ENV ROS_DISTRO=melodic

## COMMON ENV
ENV ROS_LANG_DISABLE=genlisp:geneus
ENV SONIA_USER=${SONIA_USER}
ENV SONIA_HOME=/home/${SONIA_USER}
ENV SONIA_UID=${SONIA_UID}
ENV ROS_WS_SETUP=/opt/ros/${ROS_DISTRO}/setup.bash
## ENV FOR BASE LIB
ENV BASE_LIB_WS=${SONIA_HOME}/base_lib_ws
ENV BASE_LIB_WS_SETUP=${BASE_LIB_WS}/devel/setup.bash
ENV BASE_LIB_NAME=${BASE_LIB_NAME}
ENV BASE_LIB_PATH=${BASE_LIB_WS}/src/${BASE_LIB_NAME}

# Highly inspired on
# https://github.com/osrf/docker_images/blob/0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58/ros/melodic/ubuntu/bionic/ros-core/Dockerfile
# https://github.com/osrf/docker_images/blob/0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58/ros/melodic/ubuntu/bionic/ros-base/Dockerfile
# https://github.com/osrf/docker_images/blob/7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b/ros/melodic/ubuntu/bionic/robot/Dockerfile

## ADD EXTRA DEPENDENCIES (GIT and ROS Remote Debuging)
RUN apt update && apt install -y libyaml-cpp-dev openssh-client gdb git sudo ninja-build curl gnupg
RUN apt upgrade -y
RUN rm -rf /var/lib/apt/lists/*

COPY scripts/${ENTRYPOINT_FILE} ./entrypoint.sh
RUN chmod 777 ./entrypoint.sh

## Installing ros melodic
# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && \
    apt-get install -q -y --no-install-recommends tzdata && \
    rm -rf /var/lib/apt/lists/*

# Setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

# Install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    dirmngr \
    build-essential \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rosdep init  \
    && rosdep update --rosdistro ${ROS_DISTRO} \
    && rm -rf /var/lib/apt/lists/*

# Install ROS packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-melodic-desktop-full \
    && rm -rf /var/lib/apt/lists/*

RUN useradd --uid ${SONIA_UID} --create-home ${SONIA_USER} -G sudo
RUN echo 'sonia:test' | chpasswd

## Add support for vscode extension volume caching
RUN mkdir -p ${SONIA_HOME}/.vscode-server/extensions && chown -R ${SONIA_USER}: ${SONIA_HOME}/.vscode-server

WORKDIR ${BASE_LIB_WS}

COPY . ${BASE_LIB_PATH}
RUN bash -c "source ${ROS_WS_SETUP} && catkin_make --use-ninja"

RUN chown -R ${SONIA_USER}: ${BASE_LIB_WS}

ENTRYPOINT ["sh", "/entrypoint.sh"]
CMD ["bash"]