Dockerfile

ARG ROS_DISTRO="humble"
FROM ros:${ROS_DISTRO} as build-stage
SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND=noninteractive
ENV DEBCONF_NOWARNINGS=yes

# cspell: ignore kisak
RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache && \
    add-apt-repository ppa:kisak/kisak-mesa -y && \
    apt-get update && apt-get install libegl-mesa0 -y

RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache

WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
COPY . $WORKDIR

WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/
RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external
WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
RUN vcs import external < dependency_${ROS_DISTRO}.repos
WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
    source /opt/ros/${ROS_DISTRO}/setup.bash \
    && apt-get update \
    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}

WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws

ENV CC="/usr/lib/ccache/gcc"
ENV CXX="/usr/lib/ccache/g++"
ENV CCACHE_DIR="/ccache"
RUN --mount=type=cache,target=/ccache source /opt/ros/${ROS_DISTRO}/setup.bash && \
    colcon build --symlink-install \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
    -DBUILD_CPP_MOCK_SCENARIOS=ON
COPY ./docker-entrypoint.sh /
RUN chmod a+x /docker-entrypoint.sh

ENTRYPOINT ["/docker-entrypoint.sh"]