Dockerfile.ros-torch

ARG BASE_IMAGE=rwthika/ros-torch:noetic-desktop-full-torch2.1.0-v25.02
FROM ${BASE_IMAGE}
LABEL base.image=${BASE_IMAGE}

ARG DEBIAN_FRONTEND=noninteractive
ARG ROS_DISTRO=noetic
ARG LISN_WS_DIR=/root/lisn_ws
ARG CONDA_DIR=/opt/conda
ARG RUN_BOOTSTRAP=0
ARG LISN_SKIP_FETCH=0
ARG LISN_SKIP_ROSDEP=0
ARG LISN_SKIP_LIGHTSFM_BUILD=0
ARG LISN_SKIP_BUILD=0

ENV LANG=C.UTF-8 LC_ALL=C.UTF-8 \
    ROS_DISTRO=${ROS_DISTRO} \
    LISN_WS_DIR=${LISN_WS_DIR} \
    CONDA_DIR=${CONDA_DIR} \
    PATH=${CONDA_DIR}/bin:${PATH} \
    LISN_SKIP_ROSDEP=1

SHELL ["/bin/bash", "-lc"]

# Install base tooling and add the ROS apt repository with a fresh key.
RUN apt-get update --ignore-missing || apt-get update --allow-unauthenticated || true \
    && apt-get install -y --no-install-recommends git curl gnupg2 lsb-release ca-certificates \
    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros1-latest.list

# Install required OS/ROS dependencies. Base image already ships ROS and CUDA-enabled PyTorch.
RUN apt-get update \
    && apt-get install -y --no-install-recommends \
        build-essential x11-apps mesa-utils \
        liblua5.1-dev liblcm-dev \
        python3-vcstool python3-rosinstall-generator python3-rosinstall python3-catkin-tools\
        ros-${ROS_DISTRO}-navigation \
        ros-${ROS_DISTRO}-nav-core \
        ros-${ROS_DISTRO}-move-base \
        ros-${ROS_DISTRO}-dynamic-reconfigure \
        ros-${ROS_DISTRO}-costmap-2d \
        ros-${ROS_DISTRO}-pcl-ros \
        ros-${ROS_DISTRO}-cv-bridge \
        ros-${ROS_DISTRO}-rosbridge-server \
        ros-${ROS_DISTRO}-foxglove-bridge \
        ros-${ROS_DISTRO}-image-transport \
        ros-${ROS_DISTRO}-message-filters \
        ros-${ROS_DISTRO}-gazebo-ros \
        ros-${ROS_DISTRO}-gazebo-plugins \
        ros-${ROS_DISTRO}-joint-state-publisher \
        ros-${ROS_DISTRO}-robot-state-publisher \
        ros-${ROS_DISTRO}-xacro \
        ros-${ROS_DISTRO}-tf2-geometry-msgs \
        ros-${ROS_DISTRO}-geometry-msgs \
        ros-${ROS_DISTRO}-tf2-sensor-msgs \
        ros-${ROS_DISTRO}-costmap-converter \
        ros-${ROS_DISTRO}-teb-local-planner \
        ros-${ROS_DISTRO}-sensor-msgs \
        ros-${ROS_DISTRO}-std-msgs \
        ros-${ROS_DISTRO}-visualization-msgs \
        ros-${ROS_DISTRO}-nlopt \
        ros-${ROS_DISTRO}-control-box-rst \
        ros-${ROS_DISTRO}-people-msgs \
    && rm -rf /var/lib/apt/lists/*

# Initialize rosdep for dependency resolution inside the image
RUN rosdep init || true && rosdep update || true

WORKDIR ${LISN_WS_DIR}
RUN mkdir -p ${LISN_WS_DIR}/src

# Copy the tvss_nav repository into the image (can be overmounted for live development)
COPY . ${LISN_WS_DIR}/src/tvss_nav

# Do not bootstrap by default; leave cloning/building to install_lisn_ws.sh at runtime.
RUN if [ "${RUN_BOOTSTRAP}" = "1" ]; then \
            source /opt/ros/${ROS_DISTRO}/setup.bash; \
            export LISN_WS_DIR=${LISN_WS_DIR}; \
            export LISN_SKIP_FETCH=${LISN_SKIP_FETCH}; \
            export LISN_SKIP_ROSDEP=${LISN_SKIP_ROSDEP}; \
            export LISN_SKIP_LIGHTSFM_BUILD=${LISN_SKIP_LIGHTSFM_BUILD}; \
            export LISN_SKIP_BUILD=${LISN_SKIP_BUILD}; \
            bash ${LISN_WS_DIR}/src/tvss_nav/install_lisn_ws.sh; \
        else \
            echo "Skipping workspace bootstrap (RUN_BOOTSTRAP=0). Build at container runtime."; \
        fi

# Expose standard ROS and Foxglove ports
EXPOSE 11311 8765

# Copy entrypoint and set defaults
ENV ROS_ENTRYPOINT=/usr/local/bin/ros_entrypoint.sh
COPY docker/entrypoint.sh ${ROS_ENTRYPOINT}
RUN chmod +x ${ROS_ENTRYPOINT}

ENTRYPOINT ["/usr/local/bin/ros_entrypoint.sh"]
CMD ["bash"]