Dockerfile.add_xeus

ARG BUILD_IMAGE=ubuntu:20.04
ARG BASE_IMAGE=ubuntu:20.04
ARG UBUNTU_VER=18.04

FROM ${BUILD_IMAGE} as builder
## do nothing

FROM ${BASE_IMAGE}

ARG UBUNTU_VER

LABEL maintainer "IRSL-tut (https://github.com/IRSL-tut) <faculty@irsl.eiiris.tut.ac.jp>"

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

# https://qiita.com/haessal/items/0a83fe9fa1ac00ed5ee9
ENV DEBCONF_NOWARNINGS=yes
# https://qiita.com/yagince/items/deba267f789604643bab
ENV DEBIAN_FRONTEND=noninteractive
# https://qiita.com/jacob_327/items/e99ca1cf8167d4c1486d
ENV APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1

### speedup download
# https://genzouw.com/entry/2019/09/04/085135/1718/
RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list

### Why? after 24.0.7
RUN chmod 1777 /tmp

### ROS related install
RUN apt update -q -qq && \
    apt install -q -qq -y curl libssl-dev openssl cmake g++ pkg-config git uuid-dev libsodium-dev && \
    bash <(curl -s https://raw.githubusercontent.com/choreonoid/choreonoid/master/misc/script/install-requisites-ubuntu-20.04.sh) && \
    apt install -q -qq -y ros-${ROS_DISTRO}-xacro \
    ros-${ROS_DISTRO}-cv-bridge                   \
    ros-${ROS_DISTRO}-ros-controllers             \
    ros-${ROS_DISTRO}-robot-state-publisher       \
    ros-${ROS_DISTRO}-smach-ros                   \
    ros-${ROS_DISTRO}-smach-viewer                \
    ros-${ROS_DISTRO}-qt-dotgraph                 \
    ros-${ROS_DISTRO}-image-transport             \
    ros-${ROS_DISTRO}-angles                      \
    ros-${ROS_DISTRO}-controller-manager          \
    ros-${ROS_DISTRO}-hardware-interface          \
    ros-${ROS_DISTRO}-joint-limits-interface      \
    ros-${ROS_DISTRO}-transmission-interface      \
    ros-${ROS_DISTRO}-move-base                   \
    ros-${ROS_DISTRO}-amcl                        \
    ros-${ROS_DISTRO}-map-server                  \
    ros-${ROS_DISTRO}-teb-local-planner           \
    ros-${ROS_DISTRO}-dwa-local-planner           \
    ros-${ROS_DISTRO}-global-planner              \
    ros-${ROS_DISTRO}-slam-gmapping               \
    ros-${ROS_DISTRO}-teleop-twist-keyboard       \
    ros-${ROS_DISTRO}-urdf-tutorial               \
    ros-${ROS_DISTRO}-urdf python3-pygraphviz && \
    apt clean && \
    rm -rf /var/lib/apt/lists/

## python related install
RUN apt update -q -qq && \
    apt install -q -qq -y python3-pip && \
    apt clean && \
    rm -rf /var/lib/apt/lists/ && \
    python3 -m pip install --upgrade pip && \
    python3 -m pip install ipython jedi jupyterlab jupyter-console  \
                           jedi-language-server \
                           jupyterlab-lsp \
                           python-lsp-server[all] \
                           bash_kernel \
                           jupytext \
                           networkx && \
    python3 -m bash_kernel.install

### cache may be ignored after here
COPY --from=builder /opt/xeus /opt/xeus

ENV PATH=$PATH:/opt/xeus/bin
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/xeus/lib