#FROM --platform=$BUILDPLATFORM ros:foxy AS build
#FROM ros:foxy AS build

#WORKDIR /my_ws

#SHELL ["/bin/bash", "-c"]
#RUN source /opt/ros/foxy/setup.bash
#RUN mkdir src

#WORKDIR /my_ws/src
#RUN git clone https://github.com/bjoernellens1/segway_msgs
#RUN git clone https://github.com/bjoernellens1/segwayrmp -b x86

#WORKDIR /my_ws
#RUN apt update && apt -y install gcc make gcc-aarch64-linux-gnu binutils-aarch64-linux-gnu
#RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
#    colcon build --symlink-install
#RUN echo "source /build/install/setup.bash" >> /root/.bashrc

#FROM ros:foxy AS run-run-stage
#COPY --from=build /my_ws/. /my_ws

#CMD /bin/bash

FROM ros:humble

# Install any additional packages you need
#RUN apt-get update && apt-get install -y \
#    <package1> \
#    <package2> \
#    && rm -rf /var/lib/apt/lists/*

# Create a non-root user to run the container
# RUN groupadd -r ros && useradd -r -g ros ros
# USER ros

# Create a workspace directory and copy your project into it
# RUN mkdir -p /home/ros/workspace/src
# WORKDIR /home/ros/workspace/src
# RUN git clone https://github.com/bjoernellens1/segway_msgs
# RUN git clone https://github.com/bjoernellens1/segwayrmp -b x86

RUN mkdir -p /root/workspace/src
WORKDIR /root/workspace/src
RUN git clone https://github.com/bjoernellens1/segway_msgs
RUN git clone https://github.com/bjoernellens1/segwayrmp -b humble-arm64
RUN git clone https://github.com/bjoernellens1/rmp220_teleop

# Build the workspace
# WORKDIR /home/ros/workspace
# RUN . /opt/ros/humble/setup.sh && \
#     colcon build
WORKDIR /root/workspace
RUN . /opt/ros/humble/setup.sh && \
    colcon build

RUN apt update && apt install -y ros-humble-joy
RUN apt-get autoremove -y && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*


# Set the entrypoint to the workspace and run the shell
#ENTRYPOINT ["/bin/bash", "-c", ". /opt/ros/humble/setup.sh && . install/setup.sh && /bin/bash"]

# Set up the ROS environment
# RUN echo "source /opt/ros/humble/setup.bash" >> /home/ros/.bashrc && \
#     echo "source /home/ros/workspace/install/setup.bash" >> /home/ros/.bashrc
RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc && \
    echo "source /root/workspace/install/setup.bash" >> /root/.bashrc

# Set the default command to start a new shell in the workspace
CMD ["/bin/bash"]