From 12a9161f0e9df2d4e8c99fd365c655511ba175ce Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 6 Sep 2023 08:37:24 +0200
Subject: [PATCH] update

---
 docker-compose.yaml     |  2 +-
 docker/Dockerfile       |  9 ++++++
 docker/Dockerfile.amd64 | 61 ----------------------------------------
 docker/Dockerfile.arm64 | 62 -----------------------------------------
 4 files changed, 10 insertions(+), 124 deletions(-)
 delete mode 100644 docker/Dockerfile.amd64
 delete mode 100644 docker/Dockerfile.arm64

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 4eef17a..792c625 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -175,7 +175,7 @@ services:
     network_mode: host
     ipc: host
     environment:
-    - ROS_DOMAIN_ID=5
+      - ROS_DOMAIN_ID=5
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # slam-toolbox-localization
diff --git a/docker/Dockerfile b/docker/Dockerfile
index c5e5d2b..4e8fb0f 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -67,6 +67,9 @@ ENV UNDERLAY_WS=${UNDERLAY_WS}
 COPY ./docker/entrypoint.sh /
 RUN chmod +x /entrypoint.sh
 
+# Update repository at the end of this build stage
+RUN vcs pull src
+
 ENTRYPOINT [ "/entrypoint.sh" ]
 
 ###########################################
@@ -96,6 +99,9 @@ RUN source /rmp_ws/install/setup.bash \
 COPY ./docker/entrypoint.sh /
 RUN chmod +x /entrypoint.sh
 
+# Update repository at the end of this build stage
+RUN vcs pull src
+
 ENTRYPOINT [ "/entrypoint.sh" ]
 
 ###########################################
@@ -109,6 +115,9 @@ RUN source /rmp_ws/install/setup.bash \
   && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
   && rm -rf /var/lib/apt/lists/*
 
+# Update repository at the end of this build stage
+RUN vcs pull src
+
 # Set up the entrypoint
 ENTRYPOINT [ "/entrypoint.sh" ]
 
diff --git a/docker/Dockerfile.amd64 b/docker/Dockerfile.amd64
deleted file mode 100644
index ed65b77..0000000
--- a/docker/Dockerfile.amd64
+++ /dev/null
@@ -1,61 +0,0 @@
-ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/rmp_ws
- 
-########################################
-# Base Image for Bot Mini Control #
-########################################
-FROM osrf/ros:${ROS_DISTRO}-desktop as base
-ENV ROS_DISTRO=${ROS_DISTRO}
-SHELL ["/bin/bash", "-c"]
- 
-# Create Colcon workspace with external dependencies
-RUN mkdir -p /rmp_ws/src
-WORKDIR /rmp_ws/src
-COPY dependencies.repos .
-RUN vcs import < dependencies.amd64.repos
- 
-# Build the base Colcon workspace, installing dependencies first.
-WORKDIR /rmp_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
- && apt-get update -y \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
- && colcon build --symlink-install
-
-# Use Cyclone DDS as middleware
-RUN apt-get update && apt-get install -y --no-install-recommends \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-ENV UNDERLAY_WS=${UNDERLAY_WS}
-
-###########################################
-# Overlay Image for Bot Mini Control #
-###########################################
-FROM base AS overlay
- 
-# Create an overlay Colcon workspace
-RUN mkdir -p /overlay_ws/src
-WORKDIR /overlay_ws/src
-
-RUN echo "Dummy step"
-COPY overlay.repos .
-RUN vcs import < overlay.repos
-
-WORKDIR /overlay_ws
-# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
-# COPY ./tb3_worlds/ ./src/tb3_worlds/
-RUN source /rmp_ws/install/setup.bash \
- && colcon build --symlink-install \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-
-# Set up the entrypoint
-COPY ./docker/entrypoint.sh /
-RUN chmod +x /entrypoint.sh
-
-COPY ./controller_startup.sh /
-RUN chmod +x /controller_startup.sh
-
-COPY ./localization_startup.sh /
-RUN chmod +x /localization_startup.sh
-
-ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/docker/Dockerfile.arm64 b/docker/Dockerfile.arm64
deleted file mode 100644
index ae96e74..0000000
--- a/docker/Dockerfile.arm64
+++ /dev/null
@@ -1,62 +0,0 @@
-ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/rmp_ws
- 
-########################################
-# Base Image for Bot Mini Control #
-########################################
-#FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base
-FROM ros:${ROS_DISTRO} as base
-ENV ROS_DISTRO=${ROS_DISTRO}
-SHELL ["/bin/bash", "-c"]
- 
-# Create Colcon workspace with external dependencies
-RUN mkdir -p /rmp_ws/src
-WORKDIR /rmp_ws/src
-COPY dependencies.repos .
-RUN vcs import < dependencies.arm64.repos
- 
-# Build the base Colcon workspace, installing dependencies first.
-WORKDIR /rmp_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
- && apt-get update -y \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
- && colcon build --symlink-install
-
-# Use Cyclone DDS as middleware
-RUN apt-get update && apt-get install -y --no-install-recommends \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-ENV UNDERLAY_WS=${UNDERLAY_WS}
-
-###########################################
-# Overlay Image for Bot Mini Control #
-###########################################
-FROM base AS overlay
- 
-# Create an overlay Colcon workspace
-RUN mkdir -p /overlay_ws/src
-WORKDIR /overlay_ws/src
-
-RUN echo "Dummy step"
-COPY overlay.repos .
-RUN vcs import < overlay.repos
-
-WORKDIR /overlay_ws
-# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
-# COPY ./tb3_worlds/ ./src/tb3_worlds/
-RUN source /rmp_ws/install/setup.bash \
- && colcon build --symlink-install \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-
-# Set up the entrypoint
-COPY ./docker/entrypoint.sh /
-RUN chmod +x /entrypoint.sh
-
-COPY ./controller_startup.sh /
-RUN chmod +x /controller_startup.sh
-
-COPY ./localization_startup.sh /
-RUN chmod +x /localization_startup.sh
-
-ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file