Dockerfile.pmb2_hunavsim2

# get image of ROS 2 humble
FROM osrf/ros:humble-desktop-full

#
# docker build -t pmb2_hunavsim -f Dockerfile.pmb2_hunavsim .
#

WORKDIR /home

ENV QT_X11_NO_MITSHM=1
ENV EDITOR=nano
ENV XDG_RUNTIME_DIR=/tmp


ENV SHELL=/bin/bash
SHELL ["/bin/bash", "-c"] 



ENV DEBIAN_FRONTEND=noninteractive

# we set distro ROS2 Humble
ARG distro="humble"

# from now on, we install required packages for HuNavSim 
ENV GAZEBO_MODEL_PATH=''
ENV GAZEBO_PLUGIN_PATH=''
ENV GAZEBO_RESOURCE_PATH=''


RUN apt-get update && apt-get install -y \
	wget \
 	git \
 	bash-completion \
 	build-essential \
 	sudo \
 	nano \
 	&& rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y \
	python3-vcstool \
	python3-rosdep \
	python3-colcon-common-extensions \
	&& rm -rf /var/lib/apt/lists/*


# other required ROS packages  
RUN apt-get update && apt-get install -y \
  ros-humble-nav2-* ros-dev-tools \
  ros-humble-teleop-twist-joy ros-humble-urdf ros-humble-xacro \
  ros-humble-behaviortree-cpp-v3 ros-humble-gazebo-ros ros-humble-gazebo-plugins \
  ros-humble-gazebo-ros-pkgs ros-humble-teleop-twist-keyboard ros-humble-laser-proc \
  ros-humble-controller-interface ros-humble-controller-manager \
  ros-humble-ros2-controllers \
  ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher \
  ros-humble-joint-trajectory-controller ros-humble-joint-state-publisher-gui \
  ros-humble-compressed-image-transport ros-humble-rqt* \
  ros-humble-slam-toolbox ros-humble-navigation2 ros-humble-interactive-markers \
  ros-humble-vision-msgs ros-humble-tf-transformations \
  && rm -rf /var/lib/apt/lists/*

# rosdep    
RUN apt-get install python3-rosdep -y
#RUN rosdep init
#RUN rosdep update
#RUN rosdep install -i --from-path src --rosdistro humble -y


# install the lightsfm library
RUN git clone https://github.com/robotics-upo/lightsfm.git \
  && cd lightsfm && make && make install

RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc 
RUN echo "source /usr/share/gazebo/setup.sh" >> /root/.bashrc 


# PAL pmb2 dependencies
RUN apt-get update && apt-get install -y \
  ros-humble-launch-param-builder \
  ros-humble-joy-linux \
  ros-humble-joy-teleop \
  ros-humble-pal-maps \
  ros-humble-rmw-cyclonedds-cpp \
  ros-humble-twist-mux \
  ros-humble-pal-gazebo-plugins \
  ros-humble-pal-urdf-utils \
  && rm -rf /var/lib/apt/lists/*
	
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

  

# Create workspace
RUN mkdir -p pmb2_ws/src 

# get pmb2 packages
WORKDIR /home/pmb2_ws/src
#RUN vcs import --input https://raw.githubusercontent.com/pal-robotics/pmb2_tutorials/humble-devel/pmb2_public.repos src
RUN git clone -b humble-devel https://github.com/pal-robotics/urdf_test.git
RUN git clone -b master https://github.com/pal-robotics/launch_pal.git
RUN git clone -b humble-devel https://github.com/pal-robotics/pal_gazebo_worlds.git
RUN git clone -b humble-devel https://github.com/pal-robotics/pal_navigation_cfg_public.git
# take pmb2_robot from UPO's fork
RUN git clone -b humble-devel https://github.com/robotics-upo/pmb2_robot.git

RUN git clone -b humble-devel https://github.com/pal-robotics/pmb2_navigation.git
RUN git clone -b humble-devel https://github.com/pal-robotics/pmb2_simulation.git


# get last versions of these packages
RUN git clone -b humble https://github.com/ros-controls/ros2_control.git
RUN git clone -b humble https://github.com/ros-controls/gazebo_ros2_control.git

# get people
RUN git clone -b ros2 https://github.com/wg-perception/people.git
#RUN git clone -b humble https://github.com/robotics-upo/hunav_sim.git
#RUN git clone -b humble https://github.com/robotics-upo/hunav_gazebo_wrapper.git


# compile the workspace
WORKDIR /home/pmb2_ws/
RUN source /opt/ros/humble/setup.bash && \
  colcon build --symlink-install

# source the workspace
RUN source /home/pmb2_ws/install/setup.bash
RUN echo "source /home/pmb2_ws/install/setup.bash" >> /root/.bashrc