🔨 Updated foxy_devel with nitpicked commits from humble_devel branch.

Signed-off-by: Bey Hao Yun <[email protected]>

Dockerfile

@@ -1,24 +1,28 @@
 FROM ros:foxy-ros-base-focal
 
-MAINTAINER Bey Hao Yun <[email protected]>
-
 # Add user
 RUN adduser --quiet --disabled-password user
 
+ENV DEBIAN_FRONTEND=noninteractive
+
 # Install OpenCV
 RUN apt-get update && \
     apt-get install -y libopencv-dev && \
     apt-get install -y ros-foxy-cv-bridge && \
     apt-get install -y xauth xxd x11-xserver-utils && \
     rm -rf /var/lib/apt/lists/*
 
-WORKDIR /home/user/
+WORKDIR /home/user/virtual_camera_ws
+RUN mkdir src
+COPY . src/virtual_camera
+
+# colcon compilation
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+RUN sed -i '$isource "/home/user/virtual_camera_ws/install/setup.bash"' /ros_entrypoint.sh
 
-# Get ROS2 package image_tools available for sourcing.
+RUN chown -R user:user /home/user/
 USER user
-RUN git clone https://github.com/ros2/demos.git \
-    --branch foxy \
-    --single-branch \
-    --depth 1
 
-WORKDIR /home/user
+ENTRYPOINT ["/ros_entrypoint.sh"]

scripts/0_build_docker_image.bash

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+docker build --tag vcam_image:foxy .

scripts/1_create_docker_container.bash

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+xhost +local:docker
+
+docker run -it --rm \
+    --net host \
+    --name vcam_test_container \
+    -e DISPLAY=$DISPLAY \
+    -v /dev/shm:/dev/shm \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -u user  \
+ vcam_image:foxy bash -c \
+ "ros2 run virtual_camera virtual_camera"
+
+xhost -local:docker