Update dockerfile to install from dependencies.txt

Author: $(git config --global user.name)

.devcontainer/devcontainer.json

@@ -3,6 +3,7 @@
   "initializeCommand": "xhost +local:",
   "build": {
     "dockerfile": "${localWorkspaceFolder}/docker/Dockerfile",
+    "context": "..",
     "target": "base",
     "args": {
       "WB_HUMANOID_MPC_DIR": "/wb_humanoid_mpc_ws",

dependencies.txt

@@ -1,7 +1,6 @@
 clang-format
 make
 build-essential
-locales
 libeigen3-dev
 libglpk-dev
 libboost-all-dev
@@ -18,3 +17,4 @@ ros-${ROS_DISTRO}-joint-state-publisher-gui
 ros-${ROS_DISTRO}-xacro
 ros-${ROS_DISTRO}-mcap-vendor
 ros-${ROS_DISTRO}-interactive-markers
+ros-${ROS_DISTRO}-pinocchio

docker/Dockerfile

@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=ubuntu:24.04
+ARG BASE_IMAGE=ros:jazzy-ros-base
 FROM ${BASE_IMAGE} AS base
 
 ARG USER_ID=1000
@@ -10,36 +10,19 @@ ENV ROS_DISTRO=jazzy
 
 # Install system dependencies, ROS, Python, and development tools in a single step
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    curl gnupg2 lsb-release locales software-properties-common \
-    git build-essential clang-format make ninja-build \
-    python3-pygame libeigen3-dev libglpk-dev libboost-all-dev \
-    libboost-filesystem-dev libboost-log-dev libglfw3-dev \
-    x11-apps mesa-utils \
+    curl gnupg2 lsb-release software-properties-common \
+    locales \
+    git \
+    x11-apps \
+    mesa-utils \
+    gettext-base \
     && rm -rf /var/lib/apt/lists/*
 
-# Set up locales
-RUN locale-gen en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG en_US.UTF-8 LANGUAGE en_US:en LC_ALL en_US.UTF-8
+COPY dependencies.txt /tmp/dependencies.txt
 
-# Install Python and pip
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends \
-    python${PYTHON_VERSION} python${PYTHON_VERSION}-dev python${PYTHON_VERSION}-tk libpython${PYTHON_VERSION}-dev \
-    python3-pip python3-argcomplete \
-    && rm -rf /var/lib/apt/lists/*
-RUN ln -sf /usr/bin/python${PYTHON_VERSION} /usr/bin/python3
-RUN python3 -m pip install --break-system-packages --no-cache-dir --upgrade setuptools cython catkin_pkg colcon-common-extensions
-
-# Add ROS2 repository and install core packages
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
-    echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-ament-cmake \
-    ros-${ROS_DISTRO}-ament-cmake-clang-format \
-    ros-${ROS_DISTRO}-joint-state-publisher-gui ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-mcap-vendor ros-${ROS_DISTRO}-interactive-markers \
-    ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-pinocchio \
-    && rm -rf /var/lib/apt/lists/*
+    envsubst < /tmp/dependencies.txt | xargs apt-get install -y --no-install-recommends && \
+    rm -rf /var/lib/apt/lists/*
 
 # Increase Git buffer size
 RUN git config --global http.postBuffer 1048576000