FROM arm64v8/ros:jazzy AS dev

RUN mkdir -p /ros_ws/src/mg_wheel_interface


WORKDIR /ros_ws/src
COPY mg_wheel_interface/package.xml mg_wheel_interface/


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 && \
    apt-get install -y ros-jazzy-hardware-interface && \
    rosdep install --from-paths ./ -i -y && \
    rm -rf ./mg_wheel_interface

FROM dev AS build

COPY . ./

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

CMD ["./entrypoint.sh"]