FROM osrf/ros:humble-desktop

ARG WSDIR=rbs_ws

ENV RBS_ASSEMBLY_DIR=~/assembly
ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_schunk_40_n_n_b/share/:~/${WSDIR}/install/rbs_simulation/share/rbs_simulation/

WORKDIR /${WSDIR}

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

RUN pip install vcstool && \
    wget http://www.lua.org/ftp/lua-5.3.1.tar.gz &&\
    tar zxf lua-5.3.1.tar.gz &&\
    sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install



#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 ls -la src/

RUN vcs import src/. < src/robossembler-ros2/rbs.repos
RUN apt 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