Dockerfile.dev

ARG ROS_DISTRO=jazzy
FROM ros:${ROS_DISTRO}-ros-base

ENV DEBIAN_FRONTEND=noninteractive
ENV PYTHONUNBUFFERED=1
ENV ROS_DISTRO=${ROS_DISTRO}

RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential cmake ninja-build \
    git curl wget jq \
    python3-dev python3-pip python3-venv \
    clang clang-format clang-tidy cppcheck \
    libusb-1.0-0-dev libudev-dev \
    udev usbutils \
    lttng-tools python3-lttngust babeltrace2 \
    # wrapped-ROS rSkills + lifecycle-peer
    # services. moveit + moveit-resources-panda back the in-tree
    # `rskill-moveit-multi-joints-none` rSkill and its integration test
    # (`tests/integration/test_moveit_joints_franka.py`). nav2 +
    # nav2-msgs back the `openral-nav2-navigate-to-pose` rSkill.
    # slam-toolbox is the first concrete reasoner-managed background service
    # (`packages/openral_slam_bringup/`); nav-msgs carries the
    # OccupancyGrid the SlamMapBridge subscribes to. Mirrors the
    # matching block in `docker/inference/Dockerfile.x86` so the dev
    # shell runs the same launches + integration tests as deploy.
    ros-${ROS_DISTRO}-moveit \
    ros-${ROS_DISTRO}-moveit-msgs \
    ros-${ROS_DISTRO}-moveit-resources-panda-moveit-config \
    ros-${ROS_DISTRO}-nav2-bringup \
    ros-${ROS_DISTRO}-nav2-msgs \
    ros-${ROS_DISTRO}-slam-toolbox \
    ros-${ROS_DISTRO}-nav-msgs \
    # geometric world-collision via OctoMap. `octomap` +
    # `octomap-msgs` + `tf2-geometry-msgs` are the build/runtime deps of
    # `packages/openral_octomap_bridge/` (the octree→OccupancyVoxels node
    # that feeds the C++ safety kernel's allocation-free voxel check).
    # `octomap-server` builds the 3D octree from a depth point cloud and
    # is the upstream that produces the `octomap_msgs/Octomap` the bridge
    # subscribes to — keeps the full octree→bridge→kernel chain runnable
    # in the dev shell.
    ros-${ROS_DISTRO}-octomap \
    ros-${ROS_DISTRO}-octomap-msgs \
    ros-${ROS_DISTRO}-octomap-server \
    ros-${ROS_DISTRO}-tf2-geometry-msgs \
    && rm -rf /var/lib/apt/lists/*

# F9 (LTTng opt-in): the distro's ``python3-lttngust`` installs into
# /usr/lib/python3/dist-packages — outside the uv venv. Surface it on
# PYTHONPATH so ``openral_observability.tracing_lttng._resolve_backend``
# picks the working 2.13.x binding instead of falling back to the JSONL
# tracer. PyPI's ``lttngust`` 2.7.1 is broken on Python 3.12+ (uses removed
# ``time.clock()``); the distro package routes through ``lttngust.compat._clock``
# and is the only working install path. ``OPENRAL_ROS2_TRACING`` is left
# unset by default; setting it to ``1`` at runtime activates the tracer.
ENV PYTHONPATH="/usr/lib/python3/dist-packages:${PYTHONPATH}"

# uv (fast Python package manager)
RUN curl -LsSf https://astral.sh/uv/install.sh | sh
ENV PATH="/root/.local/bin:${PATH}"

# just
RUN curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | bash -s -- --to /usr/local/bin

WORKDIR /workspace

# Copy dependency manifests first so Docker layer-caches the uv install step.
# We need the full workspace layout so uv can resolve all member packages.
COPY pyproject.toml uv.lock* ./
COPY python/core/pyproject.toml ./python/core/pyproject.toml
COPY python/cli/pyproject.toml  ./python/cli/pyproject.toml

# Create minimal package src dirs so uv workspace resolution doesn't error
# on missing src trees (the real source is mounted at runtime via docker-compose).
RUN mkdir -p python/core/src/openral_core \
             python/cli/src/openral_cli && \
    touch python/core/src/openral_core/__init__.py \
          python/cli/src/openral_cli/__init__.py

RUN uv sync --frozen --all-packages || uv sync --all-packages

CMD ["bash"]