FROM arm64v8/ros:jazzy as magrob.env

RUN mkdir -p /ros_ws/src
WORKDIR /ros_ws/src

RUN --mount=type=bind,source=./,target=/ros_ws/src/ \
    --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt,sharing=locked \
    . /opt/ros/jazzy/setup.sh && \
    apt update && \
    apt-get install -y ros-jazzy-hardware-interface && \
    rosdep install -i --from-paths . -y

RUN cat <<EOF >> /root/.bashrc
source /opt/ros/jazzy/setup.bash
EOF

CMD ["sleep", "infinity"]