From 35f81ece18028433548913c77f00eb5aeef8d71e Mon Sep 17 00:00:00 2001
From: abarbie <abarbie@geomar.de>
Date: Wed, 12 Jun 2024 17:50:49 +0200
Subject: [PATCH] dockerfile tag fixes

---
 .github/workflows/build-arm64v8.yml |  2 +-
 PiCar-X/docker-compose-dtp.yml      | 27 +++++++++++++++++++--------
 PiCar-X/simulation/Dockerfile       | 13 ++++++-------
 3 files changed, 26 insertions(+), 16 deletions(-)

diff --git a/.github/workflows/build-arm64v8.yml b/.github/workflows/build-arm64v8.yml
index 94068dd..4040717 100644
--- a/.github/workflows/build-arm64v8.yml
+++ b/.github/workflows/build-arm64v8.yml
@@ -4,7 +4,7 @@ on: [push, pull_request]
 
 jobs:
   build:
-    runs-on: self-hosted
+    runs-on: [self-hosted, Linux, ARM&$]
 
     steps:
     - uses: actions/checkout@v2
diff --git a/PiCar-X/docker-compose-dtp.yml b/PiCar-X/docker-compose-dtp.yml
index a5f49b2..4d7b85d 100644
--- a/PiCar-X/docker-compose-dtp.yml
+++ b/PiCar-X/docker-compose-dtp.yml
@@ -1,22 +1,28 @@
 services:
   picarx-ds:
-    build: .
     image: abarbie/picarx:${TAG}
     environment:
       - ROS_HOSTNAME=picarx-ds
+      - ROS_MASTER_URI=http://picarx-ds:11311
+      - ROS_HOST_PORT=11311
     tty: true
     ports:
       - 11311:11311
     command: roscore
-    depends_on:
-      picarx-ds:
-        condition: service_healthy
+    healthcheck:
+      test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ]
+      interval: 5s
+      timeout: 1s
+      retries: 5
+      start_period: 1s
 
   picarx-gazebo:
     build:
       context: ./simulation
       dockerfile: Dockerfile
       target: desktop
+      args:
+        - TAG=${TAG}
     image: abarbie/picarx/picarx-gazebo:${TAG}
     env_file:
       - ./core/dtp/env/simulation.env
@@ -24,6 +30,7 @@ services:
       - DISPLAY=host.docker.internal:0.0
       - LIBGL_ALWAYS_INDIRECT=0
       - ROS_HOSTNAME=picarx-gazebo
+      - ROS_MASTER_URI=http://picarx-gazebo:11312
     tty: true
     ports:
       - 11312:11312
@@ -64,8 +71,12 @@ services:
         condition: service_healthy
 
   motor_left-dtp:
-    build: ./ros/drivers/dcmotor
     image: abarbie/picarx/drivers/dcmotor:${TAG}
+    build:
+      dockerfile: Dockerfile
+      context: ./ros/drivers/dcmotor/
+      args:
+        - TAG=${TAG}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -157,7 +168,7 @@ services:
       - ./ros/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor
     command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_left.launch"
     depends_on:
-      picarx-ds:
+      picarx-gazebo:
         condition: service_healthy
 
   motor_emulator_right-dtp:
@@ -174,7 +185,7 @@ services:
     command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_right.launch"
 
     depends_on:
-      picarx-ds:
+      picarx-gazebo:
         condition: service_healthy
 
   steering_emulator-dtp:
@@ -195,7 +206,7 @@ services:
       - ./ros/emulators/clutchgear:/root/catkin_ws/src/emulators/clutchgear
     command: /bin/bash -c "roslaunch picarx_clutchgear_emulator ackermann_clutchgear_emulator.launch"
     depends_on:
-      picarx-ds:
+      picarx-gazebo:
         condition: service_healthy
 
 networks:
diff --git a/PiCar-X/simulation/Dockerfile b/PiCar-X/simulation/Dockerfile
index d9af493..5238574 100644
--- a/PiCar-X/simulation/Dockerfile
+++ b/PiCar-X/simulation/Dockerfile
@@ -1,26 +1,23 @@
-ARG TAG=latest
-
 FROM osrf/ros:noetic-desktop-full as gazebo-full
-
+ARG TAG
 WORKDIR /root/catkin_ws
-
 RUN apt-get update \
     && apt-get install -y python3-pip python3-setuptools python3-yaml ros-noetic-ros-control ros-noetic-ros-controllers python3-catkin-tools \
     && apt-get clean \
     && update-ca-certificates -f
 
 FROM gazebo:libgazebo11 as gazebo-only
-
+ARG TAG   
 WORKDIR /root/catkin_ws
-
 RUN apt-get update \
     && apt-get install -y python3-pip python3-setuptools python3-yaml ros-noetic-ros-control ros-noetic-ros-controllers python3-catkin-tools \
     && apt-get clean \
     && update-ca-certificates -f
 
-
+ARG TAG=latest
 
 FROM gazebo-full as desktop
+ARG TAG
 COPY --from=abarbie/picarx:${TAG} /root/catkin_ws/ .
 COPY ./simulation ./src/simulation
 
@@ -30,6 +27,8 @@ RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin config --isolate-d
 
 ENTRYPOINT [ "/root/catkin_ws/src/arches/arches_core/ENTRYPOINT.sh" ]
 
+
+ARG TAG=latest
 FROM gazebo-only as tests
 COPY --from=abarbie/picarx:${TAG} /root/catkin_ws/ .
 COPY ./simulation ./src/simulation