FROM ros:kilted AS micro-ros-agent-builder

ARG DEBIAN_FRONTEND=noninteractive

WORKDIR /uros_ws

RUN . /opt/ros/$ROS_DISTRO/setup.sh \

&& git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs \

&& git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ROS-Agent src/micro-ROS-Agent \

&& colcon build \

&& rm -rf log/ build/ src/

FROM ros:kilted-ros-core

COPY --from=micro-ros-agent-builder /uros_ws /uros_ws

WORKDIR /uros_ws

# Disable shared memory

COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/

ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

ENV MICROROS_DISABLE_SHM=1

RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc

RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc

# setup entrypoint

COPY ./micro-ros_entrypoint.sh /

ENTRYPOINT ["/bin/sh", "/micro-ros_entrypoint.sh"]

CMD ["--help"]