Dockerfile

FROM ros:humble-ros-base

ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=humble

RUN apt-get update && apt-get install -y \
    software-properties-common \
    apt-transport-https \
    ca-certificates \
    gnupg \
    wget \
    git \
    build-essential \
    cmake \
    pkg-config \
    libssl-dev \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y \
    libmodbus-dev \
    libmodbus5 \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y \
    ros-${ROS_DISTRO}-rclcpp \
    ros-${ROS_DISTRO}-std-msgs \
    ros-${ROS_DISTRO}-sensor-msgs \
    ros-${ROS_DISTRO}-geometry-msgs \
    && rm -rf /var/lib/apt/lists/*

RUN mkdir -p /ros2_ws/src

COPY . /ros2_ws/src/modbus_interface/

WORKDIR /ros2_ws

RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
    colcon build --symlink-install && \
    rm -rf build log"

RUN echo '#!/bin/bash\n\
source /opt/ros/${ROS_DISTRO}/setup.bash\n\
source /ros2_ws/install/setup.bash\n\
exec "$@"' > /ros_entrypoint.sh && \
    chmod +x /ros_entrypoint.sh

RUN mkdir -p /etc/udev/rules.d

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]