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

ARG DEBIAN_FRONTEND=noninteractive

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

# PX4 dependencies
WORKDIR /root
RUN wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/ubuntu.sh \
    && wget https://raw.githubusercontent.com/PX4/PX4-Autopilot/main/Tools/setup/requirements.txt \
    && chmod +x /root/ubuntu.sh \
    && ./ubuntu.sh \
    && rm -rf /var/lib/apt/lists/*  \
    && rm /root/requirements.txt /root/ubuntu.sh
# 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 \
    vim \
    net-tools \
    openssh-server \
    libasio-dev \
    python3-future \
    libgeographiclib-dev \
    ros-jazzy-eigen-stl-containers \
    ros-jazzy-diagnostic-updater \
    ros-jazzy-rmw-zenoh-cpp \
    ros-jazzy-ros-gz \
    && rm -rf /var/lib/apt/lists/*

# ceres
WORKDIR /root
RUN apt update && apt install -y \
    libgoogle-glog-dev \
    libgflags-dev \
    libatlas-base-dev \
    libeigen3-dev \
    libsuitesparse-dev \
    && rm -rf /var/lib/apt/lists/*
RUN wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/2.1.0.tar.gz \
    && tar -zxf 2.1.0.tar.gz \
    && cd ceres-solver-2.1.0 \
    && mkdir build && cd build \
    && cmake .. -DCXSPARSE=OFF \
    && make install -j4 \
    && rm -rf /root/ceres-solver-2.1.0 /root/2.1.0.tar.gz

# spdlog
RUN wget https://github.com/gabime/spdlog/archive/refs/tags/v1.12.0.tar.gz \
    && tar -zxf v1.12.0.tar.gz \
    && cd spdlog-1.12.0 \
    && mkdir build && cd build \
    && cmake .. -DSPDLOG_BUILD_SHARED=ON \
    && make install -j \
    && rm -rf /root/v1.12.0.tar.gz /root/spdlog-1.12.0