Dockerfile.articutool

FROM ros2_humble_base:latest

ENV ROS_DOMAIN_ID=42

# Install ROS2 control and other dependencies
RUN apt-get update && apt-get install -y \
    ros-humble-ros2-control \
    ros-humble-ros2-controllers \
    ros-humble-controller-manager \
    ros-humble-joint-state-publisher \
    ros-humble-joint-trajectory-controller \
    ros-humble-diff-drive-controller \
    ros-humble-xacro \
    ros-humble-joint-state-publisher-gui \
    ros-humble-dynamixel-sdk \
    ros-humble-dynamixel-workbench-toolbox \
    ros-humble-pinocchio \
    ros-humble-tf-transformations \
    && rm -rf /var/lib/apt/lists/*

# Install Python dependencies with pip
RUN pip3 install pinocchio pyserial numpy scipy matplotlib filterpy

# Create Articutool workspace directory
RUN mkdir -p /articutool_ws/src

# Clone Articutool repository(s)
RUN git clone https://github.com/personalrobotics/articutool_ros2.git && \
    mv articutool_ros2 /articutool_ws/src/

# Update rosdep and apt repositories
RUN rosdep update && apt-get update

# Install Articutool dependencies with rosdep
RUN rosdep install --from-paths /articutool_ws/src --ignore-src -r -y --rosdistro humble

# Build Articutool workspace
RUN bash -c "source /opt/ros/humble/setup.bash && cd /articutool_ws && colcon build --symlink-install"

# Source Articutool setup
RUN echo "source /articutool_ws/install/setup.bash" >> /root/.bashrc

# Set the working directory
WORKDIR /articutool_ws

# Install Python dependencies from requirements.txt
RUN pip install --no-cache-dir -r src/articutool_ros2/requirements.txt

# Set the entry point
CMD ["/bin/bash", "-c", "source /root/.bashrc && bash"]