FROM tiryoh/ros-desktop-vnc:melodic

ENV ROS_WORKSPACE=/home/ubuntu/catkin_ws

RUN apt-get update -q && \

apt-get install -y dos2unix ros-melodic-joint-state-publisher-gui && \

rm -rf /var/lib/apt/lists/*

COPY ./src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint

COPY ./src/raspimouse_sim $ROS_WORKSPACE/src/raspimouse_sim

COPY ./src/raspimouse_description $ROS_WORKSPACE/src/raspimouse_description

COPY ./configure.sh /home/ubuntu/configure.sh

RUN cd ${ROS_WORKSPACE} && \

/bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix" && \

dos2unix $HOME/configure.sh && \

chown -R ubuntu:ubuntu /home/ubuntu

USER ubuntu

RUN cd $ROS_WORKSPACE && \

. /opt/ros/melodic/setup.sh && \

catkin init && \

catkin build && \

echo ". \$HOME/catkin_ws/devel/setup.bash" >> /home/ubuntu/.bashrc && \

echo ". \$HOME/configure.sh" >> /home/ubuntu/.bashrc

USER root