# syntax=docker/dockerfile:1.3
FROM ros:jazzy-ros-core

# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
# Default to amd64 when not provided.
ARG TARGETARCH=amd64
ARG GRAPICAL_ENV=TRUE


# Install dependencies and setup for GUI applications
ENV DISPLAY=:0
ENV WAYLAND_DISPLAY=wayland-0
ENV XDG_SESSION_TYPE=x11
ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
#If debug, install the following:
RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
	apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
	fi
	#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 


	
mkdir -p  ~/ros2_ws/src
pushd ~/ros2_ws
git clone https://github.com/Exwayz-Navigation/exwayz_msgs.git src/exwayz_msgs
colcon build --packages-select exwayz_msgs --parallel-workers 2
popd

source $HOME/ros2_ws/install/local_setup.bash #resp. local_setup.zsh

# Set entrypoint
ENTRYPOINT ["/ros_entrypoint.sh"]