# Jetson Nano — ROS2 Humble dev container
# Base: JetPack 4.6 (L4T R32.6.1) + CUDA 10.2
# Arch: ARM64 (aarch64)

FROM nvcr.io/nvidia/l4t-base:r32.6.1

LABEL maintainer="sl-jetson <saltylab>"
LABEL description="ROS2 Humble + SLAM stack for Jetson Nano self-balancing robot"
LABEL jetpack="4.6"
LABEL ros_distro="humble"

ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=humble
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
ENV PYTHONDONTWRITEBYTECODE=1
ENV PYTHONUNBUFFERED=1

# ── System deps ────────────────────────────────────────────────────────────────
RUN apt-get update && apt-get install -y --no-install-recommends \
    # Build tools
    build-essential cmake git wget curl \
    # Python
    python3-dev python3-pip python3-setuptools python3-wheel \
    # Serial / I2C / SPI
    i2c-tools libi2c-dev python3-smbus \
    picocom minicom setserial \
    # USB
    usbutils libusb-1.0-0-dev \
    # Misc
    locales tzdata htop tmux nano \
    # Networking
    net-tools iputils-ping \
    && rm -rf /var/lib/apt/lists/*

RUN locale-gen en_US.UTF-8
ENV LANG=en_US.UTF-8

# ── ROS2 Humble (from ROS2 apt repo — ARM64 build) ─────────────────────────────
# Note: official humble debs for ARM64/L4T are provided via NVIDIA Isaac ROS
# or via ros2-apt-source for 20.04 focal.
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \
        | apt-key add - && \
    echo "deb [arch=arm64] http://packages.ros.org/ros2/ubuntu focal main" \
        > /etc/apt/sources.list.d/ros2.list && \
    apt-get update && apt-get install -y --no-install-recommends \
        ros-humble-ros-base \
        ros-humble-rmw-cyclonedds-cpp \
        ros-dev-tools \
        python3-colcon-common-extensions \
        python3-rosdep \
    && rosdep init && rosdep update \
    && rm -rf /var/lib/apt/lists/*

# ── Nav / SLAM / sensor packages ──────────────────────────────────────────────
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-nav2-bringup \
    ros-humble-slam-toolbox \
    ros-humble-robot-localization \
    ros-humble-rplidar-ros \
    ros-humble-realsense2-camera \
    ros-humble-realsense2-description \
    ros-humble-tf2-tools \
    ros-humble-rqt \
    ros-humble-rqt-common-plugins \
    ros-humble-rviz2 \
    ros-humble-rosbridge-server \
    && rm -rf /var/lib/apt/lists/*

# ── GPIO / serial Python libs ──────────────────────────────────────────────────
RUN pip3 install --no-cache-dir \
    Jetson.GPIO \
    pyserial \
    smbus2 \
    adafruit-blinka \
    RPi.GPIO \
    numpy \
    scipy

# ── RealSense SDK (librealsense2 ARM64) ───────────────────────────────────────
# Pre-built for L4T — install from Jetson Hacks script or apt source
RUN apt-get update && apt-get install -y --no-install-recommends \
    libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev \
    && rm -rf /var/lib/apt/lists/*

# librealsense2 ARM64 wheel (NVIDIA-patched for L4T)
RUN pip3 install --no-cache-dir pyrealsense2

# ── Workspace setup ───────────────────────────────────────────────────────────
RUN mkdir -p /ros2_ws/src
WORKDIR /ros2_ws

# Source ROS2 in every shell
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
    echo "source /ros2_ws/install/local_setup.bash 2>/dev/null || true" >> /root/.bashrc && \
    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc

# ── Entrypoint ────────────────────────────────────────────────────────────────
COPY scripts/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh

ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]