FROM ubuntu:22.04
ARG DEBIAN_FRONTEND=noninteractive
ENV TZ=America/Phoenix

ENV ROS_DOMAIN_ID=0
ENV ROS_LOCALHOST_ONLY=0
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV CYCLONEDDS_URI=/root/shared/cyclonedds_pc.xml

RUN apt update && apt install -y software-properties-common
RUN add-apt-repository universe
RUN apt update && apt install -y curl 
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

RUN apt update && apt upgrade -y
#RUN apt install -y ros-humble-desktop
RUN apt install -y ros-humble-examples-rclcpp-minimal-subscriber ros-humble-examples-rclcpp-minimal-publisher