new layout

Dockerfile

@@ -1,31 +1,5 @@
 ARG ROS_DISTRO=humble
 
-# =========================== URDF builder ===============================
-FROM ros:$ROS_DISTRO-ros-base as urdf_builder
-WORKDIR /ros2_ws
-
-# Clone repos with Mesh and URDF
-RUN apt update && \
-    apt-get install -y \
-        subversion \
-        ros-$ROS_DISTRO-xacro && \
-    mkdir src && \
-    cd ./src && \
-    # Clone rosbot_description
-    git clone  https://github.com/husarion/rosbot_ros.git && \
-    mv rosbot_ros/rosbot_description . && rm -rf rosbot_ros && \
-    # Clone rosbot_xl_description
-    git clone  https://github.com/husarion/rosbot_xl_ros.git && \
-    mv rosbot_xl_ros/rosbot_xl_description . && rm -rf rosbot_xl_ros && \
-    # Clone ros_components_description
-    git clone https://github.com/husarion/ros_components_description.git && \
-    # Clone open_manipulator_x_description
-    git clone  https://github.com/husarion/open_manipulator_x.git && \
-    mv open_manipulator_x/open_manipulator_x_description . && rm -rf open_manipulator_x && \
-    # Clone panther_description (TODO: Change branch after first release of ROS 2)
-    git clone -b ros2-devel https://github.com/husarion/panther_ros.git && \
-    mv panther_ros/panther_description . && mv panther_ros/panther_controller . && rm -rf panther_ros
-
 # =========================== Foxglove builder ===============================
 FROM node:16 as foxglove_build
 WORKDIR /src
@@ -58,9 +32,6 @@ COPY Caddyfile_reverse_proxy /etc/caddy/
 COPY entrypoint.sh /
 COPY run.sh /
 
-# Copy Meshes and URDFs
-COPY --from=urdf_builder /ros2_ws ./ros2_ws
-
 EXPOSE 8080
 
 ENV DS_TYPE=foxglove-websocket
@@ -74,4 +45,3 @@ ENV DS_HOST=
 
 ENTRYPOINT ["/bin/bash", "/entrypoint.sh"]
 CMD /run.sh
-# CMD ["caddy", "run", "--config", "/etc/caddy/Caddyfile", "--adapter", "caddyfile"]

demo/compose.local.yaml

@@ -1,11 +1,16 @@
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+
 services:
   foxglove:
-    image: husarion/foxglove:studio-nightly
-    network_mode: host
-    ipc: host
-    # build:
-    #   context: ..
-    #   dockerfile: Dockerfile
+    # image: husarion/foxglove:studio-nightly
+    container_name: foxglove
+    <<: *common-config
+    build:
+      context: ..
+      dockerfile: Dockerfile
     # runtime: nvidia
     ports:
       - 8080:8080
@@ -21,8 +26,8 @@ services:
 
   foxglove-ds:
     image: husarion/foxglove-bridge:humble-0.7.4-20240320
-    network_mode: host
-    ipc: host
+    container_name: foxglove-bridge
+    <<: *common-config
     ports:
       - 8765:8765
     command: ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 capabilities:=[clientPublish,parameters,parametersSubscribe,services,connectionGraph,assets]