content: # Use the base ROS 2 image with the specified tag
  FROM althack/ros2:humble-full
  
  # Update packages and install git
  RUN apt-get update && \
      apt-get install -y git python3-pip && \
      apt-get clean && \
      rm -rf /var/lib/apt/lists/*
  
  # Clone PX4-Autopilot repository and build
  RUN git clone -b v1.14.2 --recursive https://github.com/PX4/PX4-Autopilot.git /home/ros/PX4-Autopilot && \
      bash /home/ros/PX4-Autopilot/Tools/setup/ubuntu.sh && \
      cd /home/ros/PX4-Autopilot/ && \
      make px4_sitl
  
  # Install Python dependencies
  RUN pip3 install -U empy==3.3.4 "packaging>=22.0" pyros-genmsg setuptools
  
  # Clone and build Micro-XRCE-DDS-Agent
  RUN git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /home/ros/Micro-XRCE-DDS-Agent && \
      cd /home/ros/Micro-XRCE-DDS-Agent && \
      mkdir build && \
      cd build && \
      cmake .. && \
      make && \
      make install && \
      ldconfig /usr/local/lib/
  
  # Clone PX4 repositories
  RUN mkdir -p /home/ros/ws_sensor_combined/src/ && \
     git clone -b release/1.14 https://github.com/PX4/px4_msgs.git /home/ros/ws_sensor_combined/src/px4_msgs && \
     git clone -b release/v1.14 https://github.com/PX4/px4_ros_com.git /home/ros/ws_sensor_combined/src/px4_ros_com
  
  # Build the workspace using colcon
  RUN cd /home/ros/ws_sensor_combined && \
      /bin/bash -c "source /opt/ros/humble/setup.sh && colcon build"
  