FROM ubuntu:20.04
SHELL ["/bin/bash", "-c"]
RUN uname -a
RUN apt update

# 安装基础软件
RUN apt install --no-install-recommends -y \
    net-tools iputils-ping tzdata locales && \
    rm -rf /var/lib/apt/lists/*

# 设置时区
RUN echo 'Asia/Shanghai' > /etc/timezone && \
    ln -sf /usr/share/zoneinfo/Asia/Shanghai /etc/localtime

# 设置本地语言
RUN echo 'zh_CN.UTF-8 UTF-8' >> /etc/locale.gen && locale-gen && \
    update-locale LC_ALL=zh_CN.utf8 LANG=zh_CN.utf8
ENV LC_ALL zh_CN.utf8
ENV LANG zh_CN.utf8

# 安装必须软件
RUN apt update && apt install --no-install-recommends -y \
    ca-certificates curl dirmngr gnupg2 lsb-release && \
    rm -rf /var/lib/apt/lists/*

# 安装pyhton及交叉编译工具链
RUN apt update && apt install --no-install-recommends -y \
    build-essential cmake git python3-dev python3-pip \
    gcc-aarch64-linux-gnu g++-aarch64-linux-gnu && \ 
    rm -rf /var/lib/apt/lists/*

RUN python3 -m pip install -U setuptools

RUN apt update && apt install --no-install-recommends -y \
    uuid libv4l-dev libpcap-dev libyaml-cpp-dev && \
    rm -rf /var/lib/apt/lists/*

# 开发常用软件
RUN apt update && apt install --no-install-recommends -y \
    libblkid-dev libfmt-dev libeigen3-dev libflann-dev \
    libceres-dev libqhull-dev libusb-1.0-0-dev libprotobuf-dev protobuf-compiler && \
    rm -rf /var/lib/apt/lists/*

# 设置ROS安装源
RUN source /etc/lsb-release && \
    echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list

RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

# 安装ROS
RUN apt update && apt install --no-install-recommends -y ros-noetic-ros-base && \
    rm -rf /var/lib/apt/lists/*

# 安装ROS工具包
RUN apt update && apt install --no-install-recommends -y \
    python3-catkin python3-catkin-tools python3-genmsg python3-gencpp python3-genpy ros-noetic-gennodejs \
    ros-noetic-tf ros-noetic-tf2-eigen && \
    rm -rf /var/lib/apt/lists/*

# 安装ROS点云处理包
# RUN apt update && apt install --no-install-recommends -y \
#     ros-noetic-pcl-conversions ros-noetic-pcl-ros ros-noetic-pcl-msgs && \
#     rm -rf /var/lib/apt/lists/*

# RUN echo ". /opt/ros/noetic/setup.bash" >> ~/.bashrc