From 897ab96eb3ec550919d0e88df4eca2c4ae530185 Mon Sep 17 00:00:00 2001
From: Gianpaolo Macario <gianpaolo.macario@arol.com>
Date: Tue, 10 Sep 2024 08:48:12 +0000
Subject: [PATCH] Dockerfile: Add contents

Adapted from  https://github.com/space-ros/docker/blob/main/space_robots/Dockerfile

Signed-off-by: Gianpaolo Macario <gianpaolo.macario@arol.com>
---
 freisa_on_mars/Dockerfile | 98 ++++++++++++++++++++++++++++++++++++---
 1 file changed, 91 insertions(+), 7 deletions(-)

diff --git a/freisa_on_mars/Dockerfile b/freisa_on_mars/Dockerfile
index e3a5efac..408edecd 100644
--- a/freisa_on_mars/Dockerfile
+++ b/freisa_on_mars/Dockerfile
@@ -1,7 +1,91 @@
-# freisa_on_mars/Dockerfile
-
-FROM osrf/space-ros:latest
-
-# TODO
-
-# EOF
+# freisa_on_mars/Dockerfile
+#
+# Adapted from https://github.com/space-ros/docker/blob/main/space_robots/Dockerfile
+
+FROM osrf/space-ros:latest
+# FROM openrobotics/moveit2:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="FREISA meets Curiosity Rover"
+LABEL org.label-schema.description="FREISA Robot Dog meets Curiosity rover demo on the Space ROS platform"
+LABEL org.label-schema.vendor="B-AROL-O Team"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION fortress
+ENV GZ_VERSION fortress
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
+# Generate repos file for demo dependencies, excluding packages from Space ROS core.
+# COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+# COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+# RUN rosinstall_generator \
+#   --rosdistro ${ROSDISTRO} \
+#   --deps \
+#   --exclude-path ${SPACEROS_DIR}/src \
+#   --exclude-path ${MOVEIT2_DIR}/src \
+#   --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+#   -- $(cat /tmp/demo-pkgs.txt) \
+#   > /tmp/demo_generated_pkgs.repos
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+
+# # Install libmongoc for development
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install libmongoc-dev -y
+
+# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get update -y \
+# && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+# && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+# && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# # Build the demo
+# RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+#   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# # Add the user to the render group so that the user can access /dev/dri/renderD128
+# RUN sudo usermod -aG render $USERNAME
+
+# # Setup the entrypoint
+# COPY ./entrypoint.sh /
+# ENTRYPOINT ["/entrypoint.sh"]
+# CMD ["bash"]
+
+# EOF