Dockerfile

ARG BASE_IMAGE="ghcr.io/sonia-auv/sonia_common/sonia_common:x86-perception-latest"

FROM ${BASE_IMAGE}

USER root

ARG BUILD_DATE
ARG VERSION

ENV NODE_NAME=sonia_flexbe

LABEL net.etsmtl.sonia-auv.node.build-date=${BUILD_DATE}
LABEL net.etsmtl.sonia-auv.node.version=${VERSION}
LABEL net.etsmtl.sonia-auv.node.name=${NODE_NAME}

ENV SONIA_WS=${SONIA_HOME}/ros_sonia_ws

ENV NODE_NAME=${NODE_NAME}
ENV NODE_PATH=${SONIA_WS}/src/${NODE_NAME}
ENV LAUNCH_FILE=sonia_flexbe.launch
ENV SCRIPT_DIR=${SONIA_WS}/scripts
ENV ENTRYPOINT_FILE=sonia_entrypoint.sh
ENV LAUNCH_ABSPATH=${NODE_PATH}/launch/${LAUNCH_FILE}
ENV ENTRYPOINT_ABSPATH=${NODE_PATH}/scripts/${ENTRYPOINT_FILE}

ENV SONIA_WS_SETUP=${SONIA_WS}/devel/setup.bash

## ADD EXTRA DEPENDENCIES (GIT and ROS Remote Debuging)
RUN apt-get update \
    && apt-get install -y ros-${ROS_DISTRO}-flexbe-behavior-engine \ 
    curl \
    libxtst6 \
    libasound2

WORKDIR ${SONIA_WS}/src/behaviors
RUN git clone https://github.com/sonia-auv/sonia-behaviors.git

WORKDIR ${SONIA_WS}

COPY . ${NODE_PATH}

WORKDIR ${NODE_PATH}/src/sonia_flexbe
RUN chmod +x sonia_flexbe.py

WORKDIR ${SONIA_WS}
RUN bash -c "source ${ROS_WS_SETUP}; source ${BASE_LIB_WS_SETUP}; catkin_make"

RUN chown -R ${SONIA_USER}: ${SONIA_WS}
USER ${SONIA_USER}

RUN mkdir ${SCRIPT_DIR}
RUN cat $ENTRYPOINT_ABSPATH > ${SCRIPT_DIR}/entrypoint.sh
RUN echo "roslaunch --wait $LAUNCH_ABSPATH" > ${SCRIPT_DIR}/launch.sh

RUN chmod +x ${SCRIPT_DIR}/entrypoint.sh && chmod +x ${SCRIPT_DIR}/launch.sh

RUN echo "source $SONIA_WS_SETUP" >> ~/.bashrc

ENTRYPOINT ["./scripts/entrypoint.sh"]
CMD ["./scripts/launch.sh"]