content: FROM nvidia/cuda:11.8.0-devel-ubuntu20.04
  
  # 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
  
  # Install ROS first. This should be the only image where you have to
  # manually install ROS so...
  # Taken from OSRF docker file.
  
  RUN apt-get -qq update && DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata 
  
  # We're in Zurich!
  ENV TZ="Europe/Zurich"
  
  # install packages
  RUN apt-get update && apt-get install -q -y --no-install-recommends \
      dirmngr \
      gnupg2
  
  # setup sources.list
  RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
  
  # setup keys
  RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  
  # setup environment
  ENV LANG C.UTF-8
  ENV LC_ALL C.UTF-8
  
  ENV ROS_DISTRO noetic
  
  # install ros packages
  RUN apt-get update && apt-get install -y --no-install-recommends \
      ros-noetic-desktop-full
  
  # 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
  
  # Run the gazebo simulation installation
  RUN scripts/install_simulation.sh
  
  # Finally, build all the stuff we downloaded.
  RUN scripts/build_ros.sh
  