Dockerfile.rhel9

FROM almalinux:9
ARG ROS_DISTRO=rolling

# ROS prerequisites
# see https://docs.ros.org/en/rolling/Installation/RHEL-Install-RPMs.html
RUN dnf install -y langpacks-en glibc-langpack-en
RUN export LANG=en_US.UTF-8
RUN dnf install -y 'dnf-command(config-manager)' epel-release
RUN dnf config-manager --set-enabled crb

# ADD http://packages.ros.org/ros2/rhel/ros2.repo /etc/yum.repos.d/ros2.repo
ADD http://packages.ros.org/ros2-testing/rhel/ros2-testing.repo /etc/yum.repos.d/ros2.repo
RUN dnf makecache -y
RUN dnf install -y \
  gcc-c++ \
  git \
  make \
  patch \
  python3-colcon-common-extensions \
  python3-mypy \
  python3-pip \
  python3-pydocstyle \
  python3-pytest \
  python3-pytest-repeat \
  python3-pytest-rerunfailures \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

# install some pip packages needed for testing and
# not available as RPMs
# use the same versions as on Ubuntu Jammy
RUN python3 -m pip install -U --user \
  flake8==4.0.1 \
  pyflakes==2.4.0 \
  flake8-blind-except==0.1.1 \
  flake8-class-newline \
  flake8-deprecated \
  colcon-mixin 

# install ros-base
ENV ROS_DISTRO=${ROS_DISTRO}
RUN dnf install -y ros-${ROS_DISTRO}-ros-base

# install cmake 3.22.1 (the same version as Ubuntu Jammy default). Needed for RSL
RUN \
  cd && \
  wget https://github.com/Kitware/CMake/releases/download/v3.22.1/cmake-3.22.1-linux-x86_64.tar.gz && \
  cd /usr && \
  tar --strip-components=1 -xzf ~/cmake-3.22.1-linux-x86_64.tar.gz  && \
  rm ~/cmake-3.22.1-linux-x86_64.tar.gz

# setup colcon mixin and metadata
RUN colcon mixin add default \
  https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
  colcon mixin update && \
  colcon metadata add default \
  https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
  colcon metadata update

# build generate_parameter_library and other deps from source
ENV ROS2_WS=/opt/ros2_ws
RUN mkdir -p $ROS2_WS/src
WORKDIR $ROS2_WS
ADD ros-controls.rhel9.repos .
RUN vcs import src < ros-controls.rhel9.repos && \
  source /opt/ros/$ROS_DISTRO/setup.sh && \
  rosdep init && \
  rosdep update --rosdistro $ROS_DISTRO && \
  rosdep install -iyr --from-path src || true && \
  colcon build \
    --mixin release build-testing-off \
    --cmake-args --no-warn-unused-cli \
    --packages-up-to generate_parameter_library pal_statistics && \
    rm -rf log src build

# add default.yaml to the image
ADD defaults.yaml /root/.colcon/defaults.yaml

# set up sourcing of ros
COPY ./ros_entrypoint.sh /
ENTRYPOINT [ "/ros_entrypoint.sh" ]
CMD ["bash"]