From 364df64b2c4fc7db43d8965e1a54e4d76e20a9fb Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 23 Oct 2023 12:02:29 +0200
Subject: [PATCH] Update my_example.Dockerfile

---
 docker/my_example.Dockerfile | 38 +++++++++++++++++++++++++++++++++++-
 1 file changed, 37 insertions(+), 1 deletion(-)

diff --git a/docker/my_example.Dockerfile b/docker/my_example.Dockerfile
index 3f0c10c..5ed00bc 100644
--- a/docker/my_example.Dockerfile
+++ b/docker/my_example.Dockerfile
@@ -1,5 +1,6 @@
 ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/rmp_ws
+ARG UNDERLAY_WS=/base_ws
+ARG OVERLAY_WS=/overlay_ws
 
 ########################################
 # Custom ROS2 Base Image               #
@@ -38,3 +39,38 @@ RUN chmod +x /entrypoint.sh
 RUN vcs pull src
 
 ENTRYPOINT [ "/entrypoint.sh" ]
+
+
+###########################################
+# Overlay Image                           #
+###########################################
+FROM base AS overlay
+
+# Create an overlay Colcon workspace
+RUN mkdir -p ${OVERLAY_WS}/src
+WORKDIR ${OVERLAY_WS}/src
+COPY my_extended.repos ./overlay.repos
+RUN vcs import < overlay.repos
+
+WORKDIR ${OVERLAY_WS}
+
+ENV DEBIAN_FRONTEND noninteractive 
+
+RUN source ${UNDERLAY_WS}/install/setup.bash \
+  && apt-get update \
+  && DEBIAN_FRONTEND=noninteractive apt-get install \
+    nano \
+  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN source /rmp_ws/install/setup.bash \
+  && colcon build --symlink-install
+
+# Set up the entrypoint
+COPY ./docker/my_entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# Update repository at the end of this build stage
+RUN vcs pull src
+
+ENTRYPOINT [ "/entrypoint.sh" ]