FROM tiryoh/ros2-desktop-vnc:foxy

ENV DEBCONF_NOWARNINGS=yes
ENV DEBIAN_FRONTEND noninteractive
ENV ROS_PYTHON_VERSION 3
SHELL ["/bin/bash", "-c"]

RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list

RUN apt-get update && \
    apt-get upgrade -y && \
    apt-get install --no-install-recommends -y \
    build-essential \
    dkms wget git \
    openssh-server && \
    apt-get autoremove -y && \
    apt-get -y clean && \
    rm -rf /var/lib/apt/lists/* 

RUN mkdir /var/run/sshd && \
    echo 'root:ubuntu' | chpasswd && \
    sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \
    sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd

EXPOSE 22

RUN apt-get update && \
    apt-get upgrade -y && \
    apt-get install --no-install-recommends -y \
    libopencv-dev \
    python3-colcon-common-extensions && \
    cd /home/ubuntu && \
    git clone https://github.com/ROBOTIS-GIT/robotis_tools.git && \
    cd robotis_tools && \    
    chmod 755 ./install_ros2_foxy.sh && \
    /bin/bash ./install_ros2_foxy.sh && \
    apt-get install --no-install-recommends -y \
    ros-foxy-gazebo-ros-pkgs \
    ros-foxy-cartographer \
    ros-foxy-cartographer-ros \
    ros-foxy-navigation2 \
    ros-foxy-nav2-bringup \
    python3-vcstool \
    ros-foxy-dynamixel-sdk \
    ros-foxy-turtlebot3* && \
    apt-get -y autoremove && \
    apt-get -y clean && \
    rm -rf /var/lib/apt/lists/*

RUN mkdir -p /home/ubuntu/colcon_ws/src && \
    echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc && \
    echo "source /home/ubuntu/colcon_ws/install/setup.bash" >> ~/.bashrc && \
    echo "export ROS_DOMAIN_ID=30 #TURTLEBOT3" >> ~/.bashrc && \
    echo "alias cm='cd ~/colcon_ws;colcon build'" >> ~/.bashrc && \
    echo "alias cs='cd ~/colcon_ws/src'" >> ~/.bashrc && \
    echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/colcon_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models" >> ~/.bashrc && \
    echo "export TURTLEBOT3_MODEL=burger " >> ~/.bashrc && \
    apt-get update && \
    apt-get upgrade -y && \
    cd /home/ubuntu/colcon_ws/src && \
    . /opt/ros/foxy/setup.bash && \
    . /home/ubuntu/colcon_ws/install/setup.bash && \
    colcon build && \
    git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git && \
    git clone -b ros2-devel https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning.git && \
    git clone -b foxy-devel https://github.com/ros-planning/navigation2.git && \
    git clone -b foxy-devel https://github.com/SteveMacenski/slam_toolbox.git && \
    cd /home/ubuntu/colcon_ws && \
    colcon build --symlink-install --parallel-workers 1 && \
    apt-get autoremove -y && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*
COPY ./src /home/ubuntu/colcon_ws/src
RUN cd /home/ubuntu/colcon_ws && \
    colcon build --symlink-install --parallel-workers 1 

COPY ./scripts  /home/ubuntu/scripts
COPY ./startup.sh /startup.sh