Follow new structure.

.github/workflows/ci.yml

@@ -32,6 +32,4 @@ jobs:
           context: .
           platforms: linux/amd64,linux/arm64
           push: true
-          build-args: |
-            ROS_DISTRO=humble
-          tags: ghcr.io/rosblox/${{ github.event.repository.name }}:humble
+          tags: ghcr.io/${{ github.repository_owner }}/${{ github.event.repository.name }}:humble

Dockerfile

@@ -1,7 +1,14 @@
-ARG ROS_DISTRO
+ARG ROS_DISTRO=humble
 
 FROM ros:${ROS_DISTRO}-ros-core
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-joy-linux \
-    && rm -rf /var/lib/apt/lists/*
+    && rm -rf /var/lib/apt/lists/*
+
+COPY ros_entrypoint.sh .
+
+ENV LAUNCH_COMMAND='ros2 run joy_linux joy_linux_node'
+
+RUN echo 'alias run="su - ros --whitelist-environment=\"ROS_DOMAIN_ID\" /run.sh"' >> /etc/bash.bashrc && \
+    echo "source /opt/ros/$ROS_DISTRO/setup.bash; echo UID: $UID; echo ROS_DOMAIN_ID: $ROS_DOMAIN_ID; $LAUNCH_COMMAND" >> /run.sh && chmod +x /run.sh

build.sh

@@ -1 +1,7 @@
-docker build -t ghcr.io/rosblox/ros-joy-linux:humble .
+#!/bin/bash
+
+export BUILDKIT_PROGRESS=plain
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml build docker build -t ghcr.io/rosblox/ros-joy-linux:humble .

docker-compose.yml

@@ -0,0 +1,16 @@
+services:
+  ros-joy-linux:
+    image: ghcr.io/rosblox/ros-joy-linux:humble
+    build:
+      context: .
+      dockerfile: Dockerfile
+    restart: always
+    network_mode: "host"
+    ipc: host
+    pid: host
+    volumes:
+      - /dev/input:/dev/input
+    environment:
+      - UID=${HOST_UID}
+      - ROS_DOMAIN_ID
+    command: su - ros --whitelist-environment=ROS_DOMAIN_ID /run.sh

ros_entrypoint.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} ros
+
+source /opt/ros/${ROS_DISTRO}/setup.bash
+
+exec "$@"

run.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+export HOST_UID=$(id -u)
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml run \
+${REPOSITORY_NAME} bash