Dockerfile.humble

# Use the base image
FROM timongentzsch/l4t-ubuntu20-pytorch:latest

# Set environment variables to avoid interactive prompts during build
ENV DEBIAN_FRONTEND=noninteractive

# Install dependencies
RUN apt-get update && apt-get install -y \
    software-properties-common \
    curl \
    python3-pip \
    python3-flake8-docstrings \
    python3-pytest-cov \
    git \
    build-essential \
    sudo \
    lsb-release \
    && apt-get clean

# Add ROS repository key and source list
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -c | awk '{print $2}') main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
    apt-get update && apt-get install -y \
    python3-pip \
    python3-flake8-docstrings \
    python3-pytest-cov \
    ros-dev-tools \
    && apt-get clean

# Install OpenCV
RUN pip3 install ultralytics && \
    pip3 uninstall -y opencv-python opencv-contrib-python opencv-contrib-python-headless && \
    pip3 install opencv-contrib-python==4.5.1.48

# Install additional flake8 and pytest packages
RUN python3 -m pip install -U \
    flake8-blind-except \
    flake8-builtins \
    flake8-class-newline \
    flake8-comprehensions \
    flake8-deprecated \
    flake8-import-order \
    flake8-quotes \
    "pytest>=5.3" \
    pytest-repeat \
    pytest-rerunfailures

# Setup ROS 2 workspace
RUN mkdir -p /root/ros2_humble/src && \
    cd /root/ros2_humble && \
    vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

RUN cd /root/ros2_humble && rosdep init && \
    rosdep update && \
    rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

RUN cd /root/ros2_humble && colcon build --symlink-install

# Setup YOLO ROS workspace
RUN mkdir -p /root/ros2_ws/src && \
    cd /root/ros2_ws/src && \
    git clone https://github.com/mgonzs13/yolo_ros && \
    git clone https://github.com/ros-perception/vision_opencv.git -b humble && \
    cd /root/ros2_ws && \
    rosdep update --include-eol-distros && \
    source /root/ros2_humble/install/setup.bash && \
    rosdep install --from-paths src --ignore-src -y --rosdistro humble && \
    colcon build --symlink-install

# Source ROS setups into .bashrc
RUN echo "source /root/ros2_humble/install/setup.bash" >> /root/.bashrc && \
    echo "source /root/ros2_ws/install/setup.bash" >> /root/.bashrc

# Set working directory
WORKDIR /root

# Set default shell to bash
SHELL ["/bin/bash", "-c"]

# By default, run bash
CMD ["bash"]