# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.

ARG BASE_IMAGE
FROM ${BASE_IMAGE}

ARG ZED_SDK_MAJOR=4
ARG ZED_SDK_MINOR=0

# zed-ros2-wrapper dependencies
RUN apt-get update && apt-get install -y \
    libgeographic-dev  \
    ros-humble-geographic-info \
    ros-humble-nmea-msgs \
    ros-humble-robot-localization \
    ros-humble-xacro \
&& rm -rf /var/lib/apt/lists/* \
&& apt-get clean

RUN mkdir -p /opt/zed/

# The zed installation script expects to be run as non-root user and needs the USER ENV variable to be set
ENV USER=${USERNAME}
USER ${USERNAME}

COPY scripts/install-zed-x86_64.sh /opt/zed/install-zed-x86_64.sh
COPY scripts/install-zed-aarch64.sh /opt/zed/install-zed-aarch64.sh

RUN sudo chmod +x /opt/zed/install-zed-x86_64.sh
RUN sudo chmod +x /opt/zed/install-zed-aarch64.sh

RUN if [ "$(uname -m)" = "x86_64" ]; then \
    /opt/zed/install-zed-x86_64.sh; \
  else \
    /opt/zed/install-zed-aarch64.sh; \
  fi

# Revert to root user
USER root