content: #=============================================================================
  # Copyright (C) 2025, Robotic Systems Lab, ETH Zurich
  # All rights reserved.
  # http://www.rsl.ethz.ch
  #
  # This software is distributed WITHOUT ANY WARRANTY; without even the
  # implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  # See the License for more information.
  #=============================================================================
  # Authors: Julian Nubert, nubertj@ethz.ch
  #          Lorenzo Terenzi, lterenzi@ethz.ch
  #=============================================================================
  
  #==
  # Foundation
  #==
  ARG UBUNTU_VERSION=20.04
  FROM ubuntu:${UBUNTU_VERSION}
  
  # Suppresses interactive calls to APT
  ENV DEBIAN_FRONTEND="noninteractive"
  
  # Updates
  RUN apt update && apt upgrade -y
  
  # ----------------------------------------------------------------------------
  
  #==
  # System APT base dependencies and utilities
  #==
  
  COPY submodules/base.sh /home/base.sh
  RUN chmod +x /home/base.sh
  RUN /home/base.sh && rm /home/base.sh
  
  #==
  # ROS
  #==
  
  # Version
  ARG ROS=noetic
  
  COPY submodules/ros_1.sh /home/ros_1.sh
  RUN chmod +x /home/ros_1.sh
  RUN /home/ros_1.sh && rm /home/ros_1.sh
  
  #==
  # GTSAM
  #==
  
  COPY submodules/gtsam.sh /home/gtsam.sh
  RUN chmod +x /home/gtsam.sh
  RUN /home/gtsam.sh && rm /home/gtsam.sh
  
  # ----------------------------------------------------------------------------
  
  #==
  # Permissions
  #==
  RUN chmod ugo+rwx /software
  
  #==
  # Environment
  #==
  COPY ros1_noetic/bashrc /etc/bash.bashrc
  RUN chmod a+rwx /etc/bash.bashrc
  
  # ----------------------------------------------------------------------------
  
  #==
  # Execution
  #==
  
  COPY ros1_noetic/entrypoint.sh /entrypoint.sh
  RUN chmod +x /entrypoint.sh
  #ENTRYPOINT ["/entrypoint.sh"]
  CMD []
  
  # EOF