Dockerfile.receive

# Use an Ubuntu 20.04 base image compatible with ARM architectures
FROM ubuntu:20.04

# Avoid prompts from apt
ENV DEBIAN_FRONTEND=noninteractive

# Update and install necessary packages
RUN apt-get update && apt-get install -y \
    curl \
    gnupg2 \
    lsb-release \
    && rm -rf /var/lib/apt/lists/*

# Add the ROS repository
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# Import the ROS key
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

# Install ROS Noetic, the realsense2 camera package, and the RPLIDAR package
RUN apt-get update && apt-get install -y \
    ros-noetic-ros-base \
    ros-noetic-realsense2-camera \
    ros-noetic-rplidar-ros \
    python3-rosdep \
    && rm -rf /var/lib/apt/lists/*

# Initialize rosdep
RUN rosdep init \
    && rosdep update

# Setup the environment for all users and shell sessions
RUN echo "source /opt/ros/noetic/setup.bash" > /etc/profile.d/ros1_setup.sh

# Use bash as the default command to run rostopic echo on the specified RealSense topic with the --noarr flag
CMD ["/bin/bash", "-c", "source /opt/ros/noetic/setup.bash && rostopic echo --noarr /rgbd/camera/color/image/raw"]