FROM future-nav2:humble

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

ENV DEBIAN_FRONTEND=noninteractive \
    ROS_DISTRO=humble \
    TURTLEBOT3_MODEL=burger \
    NAV2_WORKSPACE=/workspace/nav2-slam_ws

# Nav2 and SLAM Toolbox are provided by the base image. Module workspaces may
# override those packages with local sources, while Gazebo and TurtleBot3 are
# added here for the source-based simulator modules.
RUN apt-get update \
    && apt-get install -y --no-install-recommends \
        build-essential \
        cmake \
        git \
        python3-argcomplete \
        python3-colcon-common-extensions \
        python3-rosdep \
        python3-vcstool \
        python3-pip \
        ros-humble-gazebo-plugins \
        ros-humble-gazebo-ros-pkgs \
        ros-humble-turtlebot3-description \
        ros-humble-turtlebot3-gazebo \
        ros-humble-turtlebot3-msgs \
        ros-humble-xacro \
        ros-humble-tf-transformations \
    && rm -rf /var/lib/apt/lists/* \
    && rosdep init 2>/dev/null || true

RUN rosdep update

COPY docker-entrypoint.sh /usr/local/bin/studio-nav2-entrypoint
RUN chmod +x /usr/local/bin/studio-nav2-entrypoint \
    && mkdir -p "${NAV2_WORKSPACE}/src"

WORKDIR /workspace
ENTRYPOINT ["/usr/local/bin/studio-nav2-entrypoint"]
CMD ["bash"]