# 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.

# Dockerfile for setting up Realsense driver
#  https://github.com/jetsonhacks/installRealSenseSDK
ARG BASE_IMAGE
FROM ${BASE_IMAGE}

COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh
COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh

RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && /opt/realsense/install-realsense-dependencies.sh
RUN chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh

# Copy hotplug script which will get invoked whenever a devices plugged or un-plugged
RUN mkdir -p /opt/realsense/
COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh

# Copy custom udev rules file
COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules

# Clone and compile the realsense ros
RUN mkdir -p /home/realsenes-ws/src && cd /home/realsenes-ws/src && \
    git clone https://github.com/IntelRealSense/realsense-ros.git && \  
    cd .. && \ 
    source /opt/ros/humble/setup.bash && \
    colcon build --symlink-install

# add the source to the bashrc
RUN echo "source /home/realsenes-ws/install/setup.bash" >> /root/.bashrc