ARG BASE_IMAGE
FROM ${BASE_IMAGE}

# Install dependencies
RUN --mount=type=cache,target=/var/cache/apt \
    --mount=type=bind,source=scripts/install-tools.sh,target=/tmp/install-tools.sh \
    bash /tmp/install-tools.sh
    
RUN --mount=type=cache,target=/root/.cache/pip \
    --mount=type=bind,source=scripts/install-python-requirements.sh,target=/tmp/install-python-requirements.sh \
    bash /tmp/install-python-requirements.sh
RUN --mount=type=cache,target=/var/cache/apt \
    --mount=type=bind,source=scripts/install-3rdparty.sh,target=/tmp/install-3rdparty.sh \
    bash /tmp/install-3rdparty.sh

# Install unitree_ros2
RUN --mount=type=cache,target=/var/cache/apt \
    --mount=type=bind,source=scripts/install-unitree-ros2.sh,target=/tmp/install-unitree-ros2.sh \
    bash /tmp/install-unitree-ros2.sh

RUN apt install -y ros-humble-isaac-ros-h264-decoder ros-humble-isaac-ros-h264-encoder

USER $USERNAME