FROM arm64v8/ros:jazzy AS dev

RUN mkdir -p /ros_ws/src/mg_navigation && \
    mkdir -p /ros_ws/src/mg_msgs


WORKDIR /ros_ws/src
COPY mg_navigation/package.xml mg_navigation/
COPY mg_msgs/package.xml mg_msgs/


RUN --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 && rosdep install --from-paths ./ -i -y && \
    rm -rf mg_navigation && \
    rm -rf mg_msgs

FROM dev AS build

COPY . ./

RUN . /opt/ros/jazzy/setup.sh && colcon build --symlink-install --packages-select \
	mg_navigation \
	mg_msgs && \
	chmod +x entrypoint.sh

CMD ["./entrypoint.sh"]