FROM irth7/ros:hydro as build

RUN sed -i 's/archive.ubuntu.com/old-releases.ubuntu.com/g' /etc/apt/sources.list && cat /etc/apt/sources.list
RUN apt-get update && apt-get install -y apt ros-hydro-tf ros-hydro-dynamic-reconfigure ros-hydro-nav-msgs ros-hydro-hokuyo-node \ 
                        libopencv-dev  python-opencv ros-hydro-camera-info-manager ros-hydro-image-transport ros-hydro-cv-bridge \
                        libogg-dev libtheora-dev v4l-utils python-catkin-tools vim ffmpeg build-essential libavcodec-dev libswscale-dev \
                        ros-hydro-robot-state-publisher ros-hydro-joint-state-publisher
ADD Aria /usr/local/Aria

RUN mkdir -p /root/.ros/camera_info/ 
COPY head_camera.yaml /root/.ros/camera_info/head_camera.yaml
RUN apt-get update && apt-get install -y ros-hydro-usb-cam
COPY ws_linux/ /ws_linux
WORKDIR /ws_linux
SHELL ["/bin/bash", "-c"]
RUN source /opt/ros/hydro/setup.bash && catkin_make
ENV ROS_MASTER_URI=http://10.104.16.29:11311
ENV ARIA_PORT=/dev/ttyS0
ENV PIONIER_ID=5
COPY entrypoint.sh /entrypoint.sh 
ENTRYPOINT ["/entrypoint.sh"]