# 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=nvidia/cuda:12.2.2-runtime-ubuntu22.04
FROM ${BASE_IMAGE} as deploy_ros_ws

ARG ROS_WS
ENV ROS_WS=${ROS_WS:?}

RUN  --mount=type=cache,target=/var/cache/apt \
. /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update --rosdistro ${ROS_DISTRO} \
    && rosdep install -y -r \
      --from-path ${ROS_WS}/install \
      --rosdistro ${ROS_DISTRO} \
      --ignore-src \
      --skip-keys "libyaml-cpp-dev fastcdr rti-connext-dds-6.0.1 rti-connext-dds-5.3.1 urdfdom_headers libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv"