Dockerfile.manipulation.hardware

ARG ROS_DISTRO=humble

FROM husarion/rosbot-xl:$ROS_DISTRO

WORKDIR /ros2_ws

COPY ./healthcheck_manipulation.cpp /

# install everything needed
RUN apt-get update && apt-get install -y \
        python3-pip \
        ros-dev-tools && \
    rm -rf /ros2_ws/* && \
    # build & install ROSbot XL packages
    source "/opt/ros/$ROS_DISTRO/setup.bash" && \
    git clone https://github.com/husarion/rosbot_xl_manipulation_ros.git src/rosbot_xl_manipulation_ros && \
    vcs import src < src/rosbot_xl_manipulation_ros/rosbot_xl_manipulation/rosbot_xl_manipulation.repos && \
    vcs import src < src/rosbot_xl_ros/rosbot_xl/rosbot_xl_hardware.repos && \
    vcs import src < src/open_manipulator_x/open_manipulator_x.repos && \
    # it is necessary to remove simulation - otherwise rosdep tries to install dependencies
    rm -r src/rosbot_xl_ros/rosbot_xl_gazebo && \
    rm -r src/rosbot_xl_manipulation_ros/rosbot_xl_manipulation_gazebo && \
    cp -r src/ros2_controllers/diff_drive_controller src && \
    cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
    rm -rf src/ros2_controllers && \
    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
    rosdep init && \
    rosdep update --rosdistro $ROS_DISTRO && \
    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
    # Create healthcheck package
    cd src/ && \
    ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp control_msgs nav_msgs && \
    sed -i '/find_package(nav_msgs REQUIRED)/a \
            add_executable(healthcheck_node src/healthcheck_manipulation.cpp)\n \
            ament_target_dependencies(healthcheck_node rclcpp control_msgs nav_msgs)\n \
            install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt && \
    mv /healthcheck_manipulation.cpp /ros2_ws/src/healthcheck_pkg/src/ && \
    cd .. && \
    # Build
    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
    # Save version
    echo $(cat /ros2_ws/src/rosbot_xl_manipulation_ros/rosbot_xl_manipulation/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
    # Size optimalization
    export SUDO_FORCE_REMOVE=yes && \
    apt-get remove -y \
        python3-pip \
        ros-dev-tools && \
    apt-get autoremove -y && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Run healthcheck in background
RUN entrypoint_file=$(if [ -f "/ros_entrypoint.sh" ]; then echo "/ros_entrypoint.sh"; else echo "/vulcanexus_entrypoint.sh"; fi) && \
    sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
            ros2 run healthcheck_pkg healthcheck_node &' \
            $entrypoint_file

COPY ./healthcheck.sh /
HEALTHCHECK --interval=2s --timeout=1s --start-period=30s --retries=1 \
    CMD ["/healthcheck.sh"]

STOPSIGNAL SIGINT