FROM sobits/robocup_dpsl_sim_basic

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

# install depending packages (install moveit! algorithms on the workspace side, since moveit-commander loads it from the workspace)
# install bio_ik
# update & upgrade for install depending packages
RUN apt-get update && \
    apt-get upgrade -y

# install packages
RUN apt-get install -y \
    git \
    curl \
    ros-$ROS_DISTRO-amcl \
    ros-$ROS_DISTRO-map-server \
    ros-$ROS_DISTRO-move-base \
    ros-$ROS_DISTRO-pcl-conversions \
    ros-$ROS_DISTRO-pcl-ros

    # update & upgrade
RUN apt-get update &&\
    apt-get -y upgrade &&\
    apt-get clean && \
    apt-get autoremove

# create workspace folder
RUN mkdir -p /workspace/src

# copy our algorithm to workspace folder
ADD . /workspace/src

RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
    cd /workspace && \
    catkin_init_workspace && \
    catkin_make install -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/$ROS_DISTRO -DCATKIN_ENABLE_TESTING=0

# install dependencies defined in package.xml
RUN cd /workspace && /ros_entrypoint.sh rosdep install --from-paths src --ignore-src -r -y

# compile and install our algorithm
RUN cd /workspace && /ros_entrypoint.sh catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/$ROS_DISTRO

RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
    source workspace/devel/setup.bash && \
    echo "export ROS_MASTER_URI=http://simulator:11311/" >> ~/.bashrc &&\
    echo "source ./devel/setup.bash" >> ~/.bashrc &&\
    source ~/.bashrc

CMD roslaunch hsr_navigation try_move.launch