# Reuse the already-built pinned upstream image. The caller supplies its exact
# sha256 through a local immutable build tag; no model images are replaced.
ARG CMU_BASE
FROM ${CMU_BASE}
LABEL com.nodedc.product="mission-core" \
      com.nodedc.stack="ai-polygon" \
      com.nodedc.role="terrain-navigation" \
      com.nodedc.managed-by="ai-polygon-worker" \
      com.nodedc.navigation-adapter="rectangular-primitive-filter-v3"
COPY missioncore_footprint.hpp /opt/cmu/src/local_planner/src/missioncore_footprint.hpp
COPY patch_footprint.py /opt/cmu/patch_footprint.py
WORKDIR /opt/cmu
RUN python3 patch_footprint.py && source /opt/ros/humble/setup.bash \
    && MAKEFLAGS=-j2 colcon build --base-paths src --packages-select local_planner \
        --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
WORKDIR /adapter