content: FROM osrf/ros:noetic-desktop-full
  
  # This docker is intended to run on a development machine.
  # No CUDA (for now), but with simulation and without sensor drivers.
  
  # Based heavily on Piloting docker from Julian Keller
  
  # Copy scripts folder
  COPY scripts/ /root/scripts/
  WORKDIR /root/
  RUN chmod a+x -R /root/scripts
  
  # Env variables
  ENV MOMA_DEP_WS=/root/moma_dep_ws
  ENV SCRIPTS_PATH=/root/scripts
  
  # Run the general dep installation
  RUN scripts/install_sys_deps.sh
  
  # Run the ROS workspace set-up and dep installation
  RUN scripts/install_ros_deps.sh
  
  # Install realsense and friends
  RUN scripts/install_drivers.sh
  
  # Run the gazebo simulation installation
  RUN scripts/install_simulation.sh
  
  # Finally, build all the stuff we downloaded.
  RUN scripts/build_ros.sh
  