FROM osrf/ros:noetic-desktop-full AS builder

ARG DEBIAN_FRONTEND=noninteractive

# catkin-tools
RUN apt-get update && apt-get install -y \
    ca-certificates \
    gnupg \
    lsb-core \
    sudo \
    curl \
    wget \
    python3-catkin-tools \
 && rm -rf /var/lib/apt/lists/*

# PX4 dependencies
COPY requirements.txt /requirements.txt
COPY ubuntu.sh /ubuntu.sh
RUN /ubuntu.sh && rm -rf /var/lib/apt/lists/*  && rm  /requirements.txt  /ubuntu.sh

# for WSL2 GPU Support
ENV LD_LIBRARY_PATH=/usr/lib/wsl/lib

RUN apt update && apt install -y \
    mesa-utils \
    vainfo \
    mesa-va-drivers \
    && rm -rf /var/lib/apt/lists/*