From 06c551e3c8c6aadb5758ae9da60b95ec42e09d33 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Mon, 4 Dec 2023 16:17:31 +0100
Subject: [PATCH] update

---
 Dockerfile | 63 ++++++++++++++++++++----------------------------------
 1 file changed, 23 insertions(+), 40 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 8d2fd86..1b1823e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,15 +1,15 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=iron
 ARG PREFIX=
 
-### BUILD IMAGE ###
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS build
+FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
 
-RUN apt update && apt install -y \
-        ros-$ROS_DISTRO-nav2-msgs
+ENV SLAM_MODE=navigation
+ENV PREFIX_ENV=$PREFIX
 
-# Create healthcheck package
 WORKDIR /ros2_ws
 
+COPY ./healthcheck /healthcheck
+
 # Install everything needed
 RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     apt-get update --fix-missing && apt-get install -y \
@@ -23,8 +23,10 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y&& cd src/ && \
-    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    # Create healthcheck package
+    cd src/ && \
+    source "/opt/$MYDISTRO/$ROS_DISTRO/setup.bash" && \
     ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp lifecycle_msgs nav2_msgs && \
     sed -i '/find_package(nav2_msgs REQUIRED)/a \
             add_executable(healthcheck_localization src/healthcheck_localization.cpp)\n \
@@ -38,49 +40,30 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
                 healthcheck_navigation \
                 healthcheck_slam  \
                 DESTINATION lib/${PROJECT_NAME})' \
-            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt
-
-COPY ./healthcheck /ros2_ws/src/healthcheck_pkg/src
-
-# Build
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release
-
-### RUNTIME IMAGE ###
-FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
-
-ARG PREFIX
-ENV SLAM_MODE=navigation
-ENV PREFIX_ENV=$PREFIX
-
-WORKDIR /ros2_ws
-
-RUN apt update && apt upgrade -y && apt install -y \
-        ros-$ROS_DISTRO-navigation2 \
-        ros-$ROS_DISTRO-nav2-bringup \
-        ros-$ROS_DISTRO-pointcloud-to-laserscan && \
-    mkdir /maps && \
+            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt && \
+    mv /healthcheck/* /ros2_ws/src/healthcheck_pkg/src/ && \
+    rm -r /healthcheck && \
+    cd .. && \
+    # Build
+    colcon build && \
+    # Make the image smaller
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
     apt-get autoremove -y && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
 COPY ./nav2_params /nav2_params
-COPY --from=build /ros2_ws/install /ros2_ws/install
 
 RUN echo $(dpkg -s ros-$ROS_DISTRO-navigation2 | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]+).*/\1/g') > /version.txt
 
-RUN if [ -f "/ros_entrypoint.sh" ]; then \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
-        ros2 run healthcheck_pkg "healthcheck_$SLAM_MODE" &' \
-        /ros_entrypoint.sh; \
-    else \
-        sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
+RUN sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
         ros2 run healthcheck_pkg "healthcheck_$SLAM_MODE" &' \
-        /vulcanexus_entrypoint.sh; \
-    fi
+        /ros_entrypoint.sh
 
 COPY ./healthcheck/healthcheck.sh /
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
     CMD ["/healthcheck.sh"]
 
-#tip: gathering logs from healthcheck: docker inspect b39 | jq '.[0].State.Health.Log'
+# #tip: gathering logs from healthcheck: docker inspect b39 | jq '.[0].State.Health.Log'