From 9ae119cd7f71f02666413b7e3f8026f0d97f53a4 Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 23 Oct 2023 12:17:44 +0200
Subject: [PATCH] Update my_example.Dockerfile

---
 docker/my_example.Dockerfile | 25 +++++++++----------------
 1 file changed, 9 insertions(+), 16 deletions(-)

diff --git a/docker/my_example.Dockerfile b/docker/my_example.Dockerfile
index b77f260..486969d 100644
--- a/docker/my_example.Dockerfile
+++ b/docker/my_example.Dockerfile
@@ -11,22 +11,15 @@ FROM osrf/ros:${ROS_DISTRO}-desktop as base
 
 SHELL ["/bin/bash", "-c"] # change shell to bash because of better compatibility (standard shell would be sh otherwise).
 
-ENV UNDERLAY_WS=${UNDERLAY_WS}
-ENV OVERLAY_WS=${OVERLAY_WS}
-
-# First checks
-RUN echo "Underlay WS:" && $UNDERLAY_WS
-RUN echo "Overlay WS:" && $OVERLAY_WS
-
 # Create Colcon workspace with external dependencies
-RUN mkdir -p ${UNDERLAY_WS}/src
-WORKDIR ${UNDERLAY_WS}/src
+RUN mkdir -p /base_ws/src
+WORKDIR /base_ws/src
 COPY my.repos .
 RUN mv my.repos dependencies.repos
 RUN vcs import < dependencies.repos
 
 # Build the base Colcon workspace, installing dependencies first.
-WORKDIR ${UNDERLAY_WS}
+WORKDIR /base_ws
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
   && apt-get update -y \
   && apt-get install -y --no-install-recommends \
@@ -36,7 +29,7 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
   && colcon build --symlink-install
 
-#ENV UNDERLAY_WS=${UNDERLAY_WS}
+#ENV UNDERLAY_WS=/base_ws
 
 # Set up the entrypoint
 COPY ./docker/my_entrypoint.sh /entrypoint.sh
@@ -54,23 +47,23 @@ ENTRYPOINT [ "/entrypoint.sh" ]
 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 my_extended.repos ./overlay.repos
 RUN vcs import < overlay.repos
 
-WORKDIR ${OVERLAY_WS}
+WORKDIR /overlay_ws
 
 ENV DEBIAN_FRONTEND noninteractive 
 
-RUN source ${UNDERLAY_WS}/install/setup.bash \
+RUN source /base_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 ${UNDERLAY_WS}/install/setup.bash \
+RUN source /base_ws/install/setup.bash \
   && colcon build --symlink-install
 
 # Set up the entrypoint