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# Copyright (c) 2019 TOYOTA MOTOR CORPORATION
# Copyright (c) 2020 MID Academic Promotions, Inc.
# All rights reserved.
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# * Neither the name of Toyota Motor Corporation nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
ARG BASE_IMAGE
FROM ${BASE_IMAGE}
SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND noninteractive
# ## Added these requirements to the repository.debs in mbot_simulation_sa so it is faster
# RUN sudo apt-get install ros-$ROS_DISTRO-serial -y
# RUN sudo apt-get install python-catkin-tools -y
# RUN sudo apt-get install ros-$ROS_DISTRO-rqt -y
# install depending packages
RUN apt-get update && \
apt-get upgrade -y && \
apt-get install --no-install-recommends -y \
ros-melodic-gazebo-ros ros-melodic-gazebo-plugins ros-melodic-gazebo-ros-control libgazebo9-dev libignition-transport4-dev libpoco-dev python-scipy libgsl-dev \
ros-melodic-serial \
ros-melodic-rqt \
python-catkin-tools \
ros-melodic-urdf-geometry-parser \
ros-melodic-moveit-ros-planning-interface \
ros-melodic-people-msgs \
ros-melodic-rviz \
ros-melodic-twist-mux \
ros-melodic-dwa-local-planner \
ros-melodic-eigen-conversions \
ros-melodic-robot-state-publisher \
ros-melodic-moveit-core \
ros-melodic-moveit-plugins \
ros-melodic-moveit-commander \
ros-melodic-moveit-planners-ompl \
ros-melodic-moveit-ros-planning \
ros-melodic-moveit-ros-move-group \
ros-melodic-moveit-ros-manipulation \
ros-melodic-moveit-simple-controller-manager \
ros-melodic-urdfdom-py \
ros-melodic-roslint \
ros-melodic-joint-state-controller \
ros-melodic-joint-trajectory-controller \
ros-melodic-move-base \
ros-melodic-map-server \
ros-melodic-xacro \
ros-melodic-joint-state-publisher \
liburdfdom-tools \
ros-melodic-image-proc \
ros-melodic-depth-image-proc \
ros-melodic-effort-controllers \
ros-melodic-ros-controllers \
ros-melodic-pcl-ros \
ros-melodic-tf-conversions \
ros-melodic-four-wheel-steering-msgs \
ros-melodic-smach \
ros-melodic-smach-msgs \
ros-melodic-smach-ros \
ros-melodic-amcl \
ros-melodic-global-planner \
ros-melodic-moveit-ros-perception && \
pip install -U --ignore-installed pyassimp supervisor supervisor_twiddler && \
apt-get autoremove -y && \
apt-get clean
RUN mkdir /robocup_ws
ADD deps /robocup_ws/src/deps
#RUN cd /robocup_ws && mkdir src
#ADD tiago.rosinstall src
RUN cd /robocup_ws/src && source /opt/ros/$ROS_DISTRO/setup.bash && catkin_init_workspace || true
RUN cd /robocup_ws && rosinstall src /opt/ros/melodic src/deps/tiago.rosinstall
RUN cd /robocup_ws && rosdep update
#RUN cd /robocup_ws && rosdep install --from-paths src --ignore-src -y --rosdistro melodic
ADD src /robocup_ws/src
#RUN source /opt/ros/$ROS_DISTRO/setup.bash && cd /robocup_ws/src/tmc_wrs_gazebo/mbot_simulation_sa/resources/packages/monarch_msgs && catkin build --this
#RUN cd /robocup_ws && source /opt/ros/$ROS_DISTRO/setup.bash && rosdep update && rosdep install --from-paths src --ignore-src -r -y
RUN cd /robocup_ws && source /opt/ros/$ROS_DISTRO/setup.bash && catkin config --install-space /opt/ros/$ROS_DISTRO && catkin config --install && catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/$ROS_DISTRO -DCATKIN_ENABLE_TESTING=0
#RUN cd /robocup_ws && source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make install -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/$ROS_DISTRO -DCATKIN_ENABLE_TESTING=0
#ADD filterable-rosmaster.py /opt/ros/melodic/bin/
#RUN rm /opt/ros/$ROS_DISTRO/bin/rosmaster && ln -s /opt/ros/$ROS_DISTRO/bin/filterable-rosmaster.py /opt/ros/$ROS_DISTRO/bin/rosmaster
RUN source /opt/ros/$ROS_DISTRO/setup.bash && rosrun tmc_gazebo_task_evaluators setup_score_widget
#&& rosrun tmc_gazebo_task_evaluators setup_score_widget
# && source /robocup_ws/devel/setup.bash
ADD supervisord.conf /etc/supervisor/supervisord.conf
VOLUME [ \
"/opt/ros/melodic/share/hsrb_description", \
"/opt/ros/melodic/share/hsrb_meshes", \
"/opt/ros/melodic/share/tmc_wrs_gazebo_worlds", \
"/opt/ros/melodic/share/gazebo_ros", \
"/opt/ros/melodic/lib/gazebo_ros", \
"/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_ros", \
"/opt/ros/melodic/lib/python2.7/dist-packages/gazebo_msgs", \
"/opt/ros/melodic/share/hsrb_rosnav_config", \
"/opt/ros/melodic/share/tmc_control_msgs", \
"/opt/ros/melodic/lib/python2.7/dist-packages/tmc_control_msgs", \
"/opt/ros/melodic/include/tmc_control_msgs" \
]
CMD ["/usr/local/bin/supervisord", "-n", "-c", "/etc/supervisor/supervisord.conf"]