From 515575540024f598d85aff5c963bc15f14354b3f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 2 Aug 2023 19:12:24 +0200
Subject: [PATCH] update

---
 docker-compose.yaml |  2 ++
 docker/Dockerfile   | 25 +++++++++++++++----------
 overlay.repos       | 10 +++-------
 3 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index ea1ea37..3adb26a 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -11,6 +11,8 @@ services:
         - ghcr.io/bjoernellens1/ros2-base:humble
       args:
         ROS_DISTRO: humble
+        UNDERLAY_WS: cps_bot_mini_ws
+        OVERLAY_WS: overlay_ws
       target: base
       x-bake:
         platforms:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 7014738..f769c3c 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,9 +1,12 @@
 ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/bot_mini_ws
-ARG OVERLAY_WS=/overlay_ws
+ARG UNDERLAY_WS=bot_mini_ws
+ARG OVERLAY_WS=overlay_ws
 
 # This file should work for both amd64 and arm64 builds.
 
+## Problem! some variables not working currently. Need to find out why.
+# For now, the variables are replaced with fixed values.
+
 ########################################
 # Base Image for Bot Mini Control #
 ########################################
@@ -15,16 +18,18 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 ENV UNDERLAY_WS=${UNDERLAY_WS}
 ENV OVERLAY_WS=${OVERLAY_WS}
 
+RUN echo "successfully sourced ENV variables: ROS_DISTRO=${ROS_DISTRO}, UNDERLAY_WS=${UNDERLAY_WS}, OVERLAY_WS=${OVERLAY_WS}"
+
 # Create Colcon workspace with external dependencies
-RUN mkdir -p /${UNDERLAY_WS}/src
-WORKDIR /${UNDERLAY_WS}/src
+RUN mkdir -p /bot_mini_ws/src
+WORKDIR /bot_mini_ws/src
 COPY dependencies.repos .
 
 #RUN vcs import < dependencies.repos
 RUN vcs import < dependencies.repos;
 
 # Build the base Colcon workspace, installing dependencies first.
-WORKDIR /${UNDERLAY_WS}
+WORKDIR /bot_mini_ws
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
  && apt-get update -y \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
@@ -45,14 +50,14 @@ ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 FROM base AS overlay
  
 # Create an overlay Colcon workspace
-RUN mkdir -p /${OVERLAY_WS}/src
-WORKDIR /${OVERLAY_WS}/src
+RUN mkdir -p /overlay_ws/src
+WORKDIR /overlay_ws/src
 COPY overlay.repos .
 RUN vcs import < overlay.repos
 
-WORKDIR /${OVERLAY_WS}
+WORKDIR /overlay_ws
 
-RUN source /${UNDERLAY_WS}/install/setup.bash \
+RUN source /bot_mini_ws/install/setup.bash \
  && colcon build --symlink-install \
  && apt-get update \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
@@ -70,7 +75,7 @@ ENTRYPOINT [ "/entrypoint.sh" ]
 FROM overlay AS guis
 
 # Install additional GUI tools
-RUN source /${UNDERLAY_WS}/install/setup.bash \
+RUN source /bot_mini_ws/install/setup.bash \
  && colcon build --symlink-install \
  && apt-get update \
  && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
diff --git a/overlay.repos b/overlay.repos
index d61bcda..3a0f26f 100644
--- a/overlay.repos
+++ b/overlay.repos
@@ -8,18 +8,13 @@ repositories:
     rmp220_teleop:
         type: git
         url: https://github.com/bjoernellens1/rmp220_teleop.git
-        version: main
+        version: bot_mini
 
     cam_openCV:
         type: git
         url: https://github.com/bjoernellens1/ros2_cam_openCV.git
         version: main
 
-    bot_mini_teleop:
-        type: git
-        url: https://github.com/bjoernellens1/rmp220_teleop
-        version: bot_mini
-
     bot_mini_description:
         type: git
         url: https://github.com/bjoernellens1/bot_mini_description
@@ -30,4 +25,5 @@ repositories:
 
     bot_mini_bringup:
         type: git
-        url: https://github.com/bjoernellens1/bot_mini_bringup 
\ No newline at end of file
+        url: https://github.com/bjoernellens1/bot_mini_bringup
+        version: imu
\ No newline at end of file