Dockerfile.dev

# Use the official Ubuntu 22.04 image
FROM ubuntu:22.04

# Set environment variables for non-interactive installation
ENV DEBIAN_FRONTEND=noninteractive
ENV USER=root
ENV DISPLAY=:1

# Define the architecture-specific variable
ARG TARGETARCH
ENV TARGETARCH=${TARGETARCH}

# Update the package list and install necessary packages, including the missing ones
RUN apt-get update && \
    apt-get install -y \
    xfce4 xfce4-goodies \
    tightvncserver \
    xterm \
    sudo \
    dbus-x11 \
    git \
    net-tools \
    vim \
    python3 \
    python3-pip \
    curl \
    wget \
    cmake \
    build-essential \
    lsb-release \
    software-properties-common \
    gnupg \
    locales \
    && apt-get clean

# Install websockify and its dependencies (latest stable version)
RUN pip3 install --upgrade websockify

# Download and install the latest stable version of noVNC from GitHub
RUN git clone https://github.com/novnc/noVNC.git /opt/noVNC && \
    cd /opt/noVNC && \
    git checkout v1.3.0 && \
    ln -s /opt/noVNC/vnc.html /opt/noVNC/index.html

# Setup the VNC server configuration
RUN mkdir -p /root/.vnc && \
    echo "#!/bin/bash\nxrdb $HOME/.Xresources\nstartxfce4 &" > /root/.vnc/xstartup && \
    chmod +x /root/.vnc/xstartup

# Clone RoboJackets RoboCup software and install dependencies
RUN git clone https://github.com/RoboJackets/robocup-software.git /root/robocup-software

# Set timezone to avoid interactive prompt
ENV TZ=America/New_York
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone

# Install dependencies
RUN cd /root/robocup-software && \
    ./util/ubuntu-setup -y || { echo 'ubuntu-setup script failed' ; exit 1; }

RUN cd /root/robocup-software && \
    ./util/git-setup || { echo 'git-setup script failed' ; exit 1; }

# Clone and build ER-Force’s simulator
RUN git clone https://github.com/robotics-erlangen/framework.git /root/framework && \
    cd /root/framework && \
    mkdir build && cd build && \
    cmake .. && \
    make simulator-cli

# Use bash to source the ROS2 setup file and run make perf
RUN bash -c "source /opt/ros/humble/setup.bash && \
    cd /root/robocup-software && \
    make perf && \
    source install/setup.bash"

# Install external ref (conditionally download the correct binary based on architecture)
RUN cd /root && \
    if [ "$TARGETARCH" = "amd64" ]; then \
        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.12.3/ssl-game-controller_v3.12.3_linux_amd64 -L -O; \
    elif [ "$TARGETARCH" = "arm64" ]; then \
        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.12.3/ssl-game-controller_v3.12.3_linux_arm64 -L -O; \
    fi && \
    chmod +x ssl-game-controller_v3.12.3_linux_*

# Expose the VNC, noVNC, and external ref ports
EXPOSE 5901 6080 8081

# Start the VNC server and noVNC services
CMD ["/bin/bash", "-c", "\
    rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1 && \
    mkdir -p /root/.vnc && \
    echo 'password' | vncpasswd -f > /root/.vnc/passwd && \
    chmod 600 /root/.vnc/passwd && \
    vncserver :1 -geometry 1920x1080 -depth 24 && \
    /opt/noVNC/utils/novnc_proxy --vnc localhost:5901 --listen 6080"]