content: FROM osrf/ros:humble-desktop-full
  
  SHELL ["bash", "-c"]
  
  # Create the user 'mustafa'
  RUN useradd -m -s /bin/bash mustafa
  
  # Add 'mustafa' to sudoers with no password requirement
  RUN echo 'mustafa ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
  
  
  # Create and set permissions for the directory where you want to copy files
  RUN mkdir -p /home/mustafa && chown -R mustafa:mustafa /home/mustafa
  
  # Install necessary packages
  RUN apt-get update && apt-get install -y \
      ros-humble-turtlebot3*
  
  RUN apt install python3-pip -y && pip3 install gymnasium && pip3 install stable-baselines3 &&  pip install numpy==1.26.4 && pip3 install tensorboard && pip install stable-baselines3[extra]
  
  # Switch to the user 'mustafa'
  USER mustafa
  
  # Create a directory for the workspace in the user's home directory
  RUN mkdir -p /home/mustafa/rl_planner/src
  
  # Clone the given repository to the workspace
  RUN cd /home/mustafa/rl_planner/src && git clone --branch=main https://github.com/mustafakurban/rl_test_enviroment.git
  
  # Environment setup
  RUN echo "source /opt/ros/humble/setup.bash" >> /home/mustafa/.bashrc
  RUN echo "source /usr/share/gazebo/setup.sh" >> /home/mustafa/.bashrc
  RUN echo "export TURTLEBOT3_MODEL=waffle" >> /home/mustafa/.bashrc
  
  # Build the workspace
  RUN source /opt/ros/humble/setup.bash && cd /home/mustafa/rl_planner && colcon build --symlink-install
  
  # Set the working directory
  WORKDIR /home/mustafa
  