FROM ros:humble-ros-base

ENV DEBIAN_FRONTEND=noninteractive

SHELL ["/bin/bash", "-c"]

RUN apt-get update && apt-get install -y --no-install-recommends \

default-jdk \

gradle \

curl \

git \

python3-colcon-common-extensions \

python3-pip \

python3-vcstool && \

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

RUN python3 -m pip install -U git+https://github.com/colcon/colcon-gradle \

&& python3 -m pip install --no-deps -U git+https://github.com/colcon/colcon-ros-gradle \

&& rm -rf /root/.cache/pip

WORKDIR /ws/ros2_java_ws

RUN apt-get update \

&& rosdep update \

&& mkdir -p src \

&& curl -sSL https://raw.githubusercontent.com/kazu-321/ros2_java/main/ros2_java_desktop.repos | vcs import src \

&& rosdep install --from-paths src -y -i --skip-keys "ament_tools" \

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

&& rm -rf /root/.ros/sources.cache

ENV ROS2JAVA_INSTALL_PATH=/ws/ros2_java_ws/install

RUN source /opt/ros/humble/setup.bash && \

colcon build &&\

rm -rf build log

CMD ["bash"]