content: FROM ros:humble-ros-base-jammy
  
  RUN sudo apt-get update -y && sudo apt-get upgrade -y -f
  RUN sudo apt-get install -y -f  \
      ros-humble-rosbridge-suite \
      ros-humble-rclpy-message-converter \
      python3-colcon-common-extensions \
      python3-pip \
      bluetooth bluez-alsa-utils mpg123 mpv
  
  RUN mkdir -p /root/lawnny5/cache
  
  ## Make sure ROS is always setup when loading our shell
  RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
  
  ENV WEBOTS_SHARED_FOLDER=/Users/jheising/Documents/Development/personal/lawnny5/development/brain/ros2_workspace/shared:/root/lawnny5/src/shared
  ENV LAWNNY5_ROOT="/root/lawnny5/ros2_workspace"
  ENV LAWNNY5_CACHE="/root/lawnny5/cache"
  ENV LAWNNY5_ASSETS="/root/lawnny5/assets"
  
  WORKDIR /root/lawnny5
  
  # We have to lock depthai to 2.20.2 because of this issue https://github.com/geaxgx/depthai_blazepose/issues/37
  RUN python3 -m pip install pysabertooth depthai==2.20.2 opencv-python pytweening mpyg321 openai elevenlabs mavproxy
  
  # sudo mavproxy.py --master=/dev/ttyAMA0 --baudrate 921600
  
  # RUN colcon build && source install/local_setup.bash
  
  # https://www.theconstruct.ai/ros2-how-to-install-third-party-python-packages-using-ros2-5/
  
  # sudo mount -t cifs //192.168.1.30/development /home/lawnny5/src -o username=jheising,sec=ntlmssp,nounix
  # sudo systemctl disable bluetooth.service
  # docker run -d -i -t -v /home/lawnny5/src/brain/ros2_workspace:/root/lawnny5/ros2_workspace -v /home/lawnny5/cache:/root/lawnny5/cache -v /home/lawnny5/src/brain/assets:/root/lawnny5/assets -v /dev/bus/usb:/dev/bus/usb -v /run/dbus:/run/dbus --name lawnny5-ros-sim --rm --network host --device-cgroup-rule='c 189:* rmw' --privileged lawnny5-ros-sim:latest
  
  # RUN history -s colcon build && source install/local_setup.bash
  # RUN history -s ros2 launch lawnny5 robotulate_launch.yaml
  
  # CMD . /opt/ros/humble/setup.bash && . install/local_setup.bash && ros2 launch lawnny5 simulate_launch.py
  
  # source install/local_setup.bash && /opt/ros/humble/share/webots_ros2_driver/scripts/webots-controller --robot-name=Lawnny5 --ip-address=192.168.1.6 --protocol=tcp --port=1234 ros2 --ros-args -p robot_description:=/root/lawnny5/install/lawnny5/share/lawnny5/resource/lawnny5.urdf
  
  # python3 /opt/ros/humble/share/webots_ros2_driver/scripts/webots_tcp_client.py --port=1234 --batch --mode=realtime tmp97a4gzwv_world_with_URDF_robot.wbt'
  
  # ros2 launch webots_ros2_universal_robot multirobot_launch.py
  
  # ros2 topic pub --once /personality/chat_input std_msgs/String "data: Hey there!"
  # ros2 topic pub --once sound/play/by_name std_msgs/String "data: alive1"