Dockerfile.cpu

ARG ROS_DISTRO=humble
ARG PREFIX=

FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base

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

# Install tools
RUN apt-get update && apt install -y \
        git \
        libhidapi-libusb0 \
        libopencv-viz-dev \
        udev && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Workspace & dependencies
WORKDIR /ros2_ws
RUN apt-get update && \
    git clone -b ros2 https://github.com/husarion/zed_cpu.git src/zed_cpu && \
    source /opt/ros/$ROS_DISTRO/setup.bash && \
    rosdep install --from-paths src -y -i && \
    cd src/zed_cpu/udev && \
    bash install_udev_rule.sh && \
    rm -rf /var/lib/apt/lists/*

# Build
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
    rm -rf build log src

# Git action version
RUN echo $(cat /ros2_ws/src/zed_cpu/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt

# Setup entrypoint
COPY ./ros_entrypoint.sh /
ENTRYPOINT ["/ros_entrypoint.sh"]