Dockerfile.exec

# syntax = edrevo/dockerfile-plus

INCLUDE+ .devcontainer/Dockerfile


FROM rvc-dev AS rvc-exec

RUN apt-get update && apt-get install -y --no-install-recommends \
  ros-${ROS_DISTRO}-ur-robot-driver \
  ros-${ROS_DISTRO}-ur-calibration \
  $(if [ "${ROS_DISTRO}" = "jazzy" ]; then echo "ros-${ROS_DISTRO}-hardware-interface"; else echo "ros-${ROS_DISTRO}-ur-bringup"; fi) \
  && rm -rf /var/lib/apt/lists/*

RUN echo "$USERNAME soft rtprio   98" >> /etc/security/limits.conf \
    && echo "$USERNAME soft priority 99" >> /etc/security/limits.conf \
    && echo "$USERNAME hard priority 99" >> /etc/security/limits.conf \ 
    && echo "$USERNAME soft memlock  102400" >> /etc/security/limits.conf \
    && echo "$USERNAME hard memlock  102400" >> /etc/security/limits.conf \
    && echo "$USERNAME - memlock     51200" >> /etc/security/limits.conf \
    && echo "$USERNAME - rtprio      99" >> /etc/security/limits.conf

COPY --chown=$USERNAME src /rvc/src
USER $USERNAME

RUN cd /rvc \
    && . /opt/ros/${ROS_DISTRO}/setup.sh \
    && colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release