Dockerfile

FROM osrf/ros:jazzy-desktop

# Set timezone
RUN echo "America/New_York" > /etc/timezone

# Copy requirements files
COPY apt-requirements.txt /tmp/apt-requirements.txt
COPY pip-requirements.txt /tmp/pip-requirements.txt

# Install apt packages
RUN apt-get update && \
    apt-get install --no-install-recommends $(grep -vE "^\s*#" /tmp/apt-requirements.txt | tr "\n" " ") -y && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists && \
    rm /tmp/apt-requirements.txt

# Install pip packages
# Note: --break-system-packages needed for Python 3.12+ (ROS Jazzy)
RUN pip3 install --break-system-packages -r /tmp/pip-requirements.txt && \
    rm /tmp/pip-requirements.txt

# Copy workspace (excluding data folder - will be mounted)
COPY rwa2_starter/ /workspace/rwa2_starter/
COPY LICENSE /workspace/

# Copy entrypoint script
COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
RUN chmod +x /usr/local/bin/docker-entrypoint.sh

# Setup bashrc (workspace will be built after mounting)
RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
    echo "if [ -f /workspace/install/setup.bash ]; then source /workspace/install/setup.bash; fi" >> /root/.bashrc && \
    echo "cd /workspace" >> /root/.bashrc

ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
CMD ["bash"]