FROM nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04
ARG WSDIR=rbs_ws

ENV RBS_ASSEMBLY_DIR=/assembly
ENV DEBIAN_FRONTEND=noninteractive

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

RUN apt-get update && apt-get upgrade -y && apt-get install -y \ 
    git \
    software-properties-common \
    python3-pip \ 
    lsb-release \
    curl \
    wget


# 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 add-apt-repository universe
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN 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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null


RUN apt-get update && apt-get upgrade && apt-get install -y ros-humble-ros-base

# 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}

COPY . src/robossembler-ros2/

RUN pip install vcstool uv

# Install framework and dependencies
RUN vcs import src/. < src/robossembler-ros2/repos/all-deps.repos
RUN uv pip install --system -r src/robossembler-ros2/repos/requirements.txt
RUN apt-get 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


WORKDIR /${RBS_ASSEMBLY_DIR}
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
RUN apt-get install git-lfs
RUN git clone https://github.com/solid-sinusoid/rbs_assets_library.git 
RUN cd rbs_assets_library && git lfs pull && pip install -e .

WORKDIR /${WSDIR}