FROM ros:humble-ros-base

WORKDIR /app

COPY requirements.txt /app/requirements.txt
COPY bridge.py /app/bridge.py

RUN apt-get update && \
    apt-get install -y --no-install-recommends python3-pip ros-humble-nav2-msgs ros-humble-rtabmap-msgs ros-humble-rtabmap-util && \
    pip3 install --no-cache-dir --retries 5 --timeout 180 -r /app/requirements.txt && \
    rm -rf /var/lib/apt/lists/*

CMD bash -c "source /opt/ros/humble/setup.bash && python3 /app/bridge.py"