ARG CC_PLATFORM_IMAGE
ARG VENDOR_PACKAGES_IMAGE

FROM ${CC_PLATFORM_IMAGE} AS ros_src

ARG ROS_DISTRO

WORKDIR /workspace
RUN mkdir -p /workspace/src
COPY ros2/ros_rolling.repos .
RUN vcs import --input ros_${ROS_DISTRO}.repos src
RUN echo "Build ros ${ROS_DISTRO}"

FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images

FROM ${CC_PLATFORM_IMAGE} AS ros_builder

COPY --from=ros_src /workspace /workspace
COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}

RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
    && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE

RUN MAKEFLAGS="-j6" colcon build \
    --executor parallel \
    --parallel-workers 6 \
    --install-base ${TARGET_SYSROOT} \
    --merge-install \
    --packages-up-to ros_cpp \
    --cmake-force-configure \
    --cmake-args \
    --no-warn-unused-cli \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
    -DBUILD_TESTING=OFF \
    -DTRACETOOLS_DISABLED=ON \
    -DCV_BRIDGE_DISABLE_PYTHON=ON