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FROM osrf/ros:humble-desktop-full


# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
  curl \
  gnupg2 \
  lsb-release \
  sudo \
  software-properties-common \
  wget \
  && rm -rf /var/lib/apt/lists/*

# develop tools 
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
  build-essential \
  python3-pip \
  ros-dev-tools \
  && rm -rf /var/lib/apt/lists/*

RUN rosdep init || echo "rosdep already initialized"

# additional apt-source
RUN echo "deb [trusted=yes] https://github.com/eaa3/ros-humble-packages/raw/jammy-humble/ ./" | sudo tee /etc/apt/sources.list.d/eaa3_ros-humble-packages.list \
  && echo "yaml https://github.com/eaa3/ros-humble-packages/raw/jammy-humble/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-eaa3_ros-humble-packages.list

RUN echo "deb [trusted=yes] https://github.com/eaa3/ros-humble-franka-packages/raw/jammy-humble/ ./" | sudo tee /etc/apt/sources.list.d/eaa3_ros-humble-franka-packages.list \
  && echo "yaml https://github.com/eaa3/ros-humble-franka-packages/raw/jammy-humble/local.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-eaa3_ros-humble-franka-packages.list


RUN echo "yaml https://raw.githubusercontent.com/eaa3/custom-ros-deps/main/custom_deps.yaml humble" | sudo tee /etc/ros/rosdep/sources.list.d/1-eaa-custom-deps.list

COPY * /tmp/grip

RUN pip install -r tmp/grip/requirements_dev.txt

RUN apt-get update && rosdep update && rosdep install --from-paths /tmp/grip --ignore-src -y -r