FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia

ARG WSDIR=rbs_ws

ENV RBS_ASSEMBLY_DIR=/assembly

# COPY /home/bill-finger/assembly /assembly
ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/

RUN apt update && apt install -y \ 
    git \
    python3-pip \ 
    lsb-release \
    wget \
    gnupg

RUN pip install vcstool

WORKDIR /libs
RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
    tar -xf v3.11.3.tar.gz &&\
    cd json-3.11.3 &&\
    mkdir build &&\
    cd build &&\
    cmake .. &&\
    make &&\
    make install

RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
    cd megapose6d &&\
    pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
    pip install -e .
RUN git clone https://github.com/thodan/bop_toolkit &&\
    cd bop_toolkit &&\
    pip install -e .

WORKDIR /${WSDIR}
#Install Gazebo Fortres
# RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
#     "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
#     apt-get update &&\
#     apt-get install -y ignition-fortress

# Install RBS
COPY . src/robossembler-ros2/

RUN vcs import src/. < src/robossembler-ros2/rbs.repos
RUN apt update && rosdep update && \
    rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
RUN . /opt/ros/humble/setup.sh && \
    colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1