Dockerfile.humble.base

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ARG BASE_IMAGE=rbonghi/isaac-ros-base:humble-core-devel
FROM ${BASE_IMAGE}

# ROS distributions
# https://discourse.ros.org/t/core-base-and-desktop-releases/20267
ARG ROS_PKG=ros_base

# ROS2 Humble installation
# https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html

# download/build ROS from source
RUN mkdir -p ${ROS_ROOT}/src \
    && cd ${ROS_ROOT} \
    && rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} \
        > ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
    && cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
    && vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall \
    && rm ${ROS_ROOT}/*.rosinstall \
    # Install dependencies using rosdep
    && apt-get update \
    && rosdep update \
    && rosdep install -y \
        --ignore-src \
        --from-paths src \
        --rosdistro ${ROS_DISTRO} \
        --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" \
    && rm -Rf /var/lib/apt/lists/* \
    && apt-get clean \
    # Build ROS2 source
    && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release \
    && rm -Rf src build log

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