Clean the container code

docker-compose.yaml

@@ -13,60 +13,20 @@
 
 version: "3.9"
 services:
-  # Base image containing dependencies.
-  base:
-    image: ros2-naoqi-driver:base
+  # Developer container
+  dev:
+    image: ros2-naoqi-driver:dev
     build:
       context: .
       dockerfile: docker/Dockerfile
-      args:
-        ROS_DISTRO: humble
-      target: base
+      target: dev
+
     # Interactive shell
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
-    # Needed to display graphical applications
-    privileged: True
-    environment:
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
-    volumes:
-      # Allows graphical programs in the container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-
-  # Overlay image containing the example source code.
-  overlay:
-    extends: base
-    image: ros2-naoqi-driver:overlay
-    build:
-      context: .
-      dockerfile: docker/Dockerfile
-      target: overlay
-
-  # Developer container
-  dev:
-    extends: overlay
-    image: ros2-naoqi-driver:dev
-    build:
-      context: .
-      dockerfile: docker/Dockerfile
-      target: dev
-      args:
-        - UID=${UID:-1000}
-        - GID=${UID:-1000}
-        - USERNAME=${USERNAME:-devuser}
     volumes:
       # Mount the source code
-      - .:/overlay_ws/src/naoqi_driver2:rw
-      # Mount colcon build artifacts for faster rebuilds
-      - ./.colcon/build/:/overlay_ws/build/:rw
-      - ./.colcon/install/:/overlay_ws/install/:rw
-      - ./.colcon/log/:/overlay_ws/log/:rw
-    user: ${USERNAME:-devuser}
-    command: sleep infinity
+      - .:/ws/src/naoqi_driver2:rw

docker/Dockerfile

@@ -1,104 +1,35 @@
-# ROS distribution to use
 ARG ROS_DISTRO=iron
-
-########################################
-# Base ROS 2 development image,        #
-# Forked from TurtleBot3 Simulation    #
-# sea-bass/turtlebot3_behavior_demos   #
-########################################
-FROM ros:${ROS_DISTRO} as base
+FROM ros:${ROS_DISTRO} as dev
 ENV ROS_DISTRO=${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
 SHELL ["/bin/bash", "-c"]
 
-# Install basic apt packages
-RUN apt-get update && apt-get install -y --no-install-recommends \
- git curl libcanberra-gtk-module libcanberra-gtk3-module fuse3 libfuse2 libqt5svg5-dev \
- python3-pip python3-opencv python3-tk python3-pyqt5.qtwebengine
-
-# Install additional Python modules
-RUN pip3 install matplotlib transforms3d
-
-# Use Cyclone DDS as middleware
-RUN apt-get update && apt-get install -y --no-install-recommends \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Create Colcon workspace with external dependencies
-ENV BASE_WS=/ws
-RUN mkdir -p $BASE_WS/src
-WORKDIR $BASE_WS/src
-COPY dependencies.repos .
-RUN vcs import < dependencies.repos
+# Create Colcon workspace with the project and its deps
+ENV WS=/ws
+ENV PROJ_SRC=${WS}/src/naoqi_driver2
+COPY . $PROJ_SRC
+WORKDIR $WS/src
+RUN apt install -y git python3-vcstool
+RUN vcs import < $PROJ_SRC/dependencies.repos
 
 # Build the base Colcon workspace, installing dependencies first.
-WORKDIR $BASE_WS
+WORKDIR $WS
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
- && apt-get update -y \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
- && colcon build --symlink-install
-
-# Remove display warnings
-RUN mkdir /tmp/runtime-root
-ENV XDG_RUNTIME_DIR "/tmp/runtime-root"
-RUN chmod -R 0700 /tmp/runtime-root
-ENV NO_AT_BRIDGE 1
-
-# Set up the entrypoint
-WORKDIR $BASE_WS
-COPY ./docker/entrypoint.sh /
-ENTRYPOINT [ "/entrypoint.sh" ]
-
-###########################################
-# Overlay Image with robot-specific deps  #
-###########################################
-FROM base AS overlay
-
-# Create an overlay Colcon workspace
-ENV OVERLAY_WS=/overlay_ws
-RUN mkdir -p $OVERLAY_WS/src
-WORKDIR $OVERLAY_WS
-COPY . ./src/naoqi_driver2/
-RUN source $BASE_WS/install/setup.bash \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --include-eol-distros
-
-############################################
-# Production image has everything compiled #
-############################################
-FROM overlay AS production
-RUN colcon build --symlink-install
-
-#####################
-# Development Image #
-#####################
-FROM overlay as dev
-
-# Dev container arguments
-ARG USERNAME=devuser
-ARG UID=1000
-ARG GID=${UID}
+  && apt-get update -y \
+  && rosdep update \
+  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
 
 # Install extra tools for development
 RUN apt-get update && apt-get install -y --no-install-recommends \
  gdb gdbserver nano libgmock-dev
 
-# Create new user and home directory
-RUN groupadd --gid $GID $USERNAME \
- && useradd --uid ${GID} --gid ${UID} --create-home ${USERNAME} \
- && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
- && chmod 0440 /etc/sudoers.d/${USERNAME} \
- && mkdir -p /home/${USERNAME} \
- && chown -R ${UID}:${GID} /home/${USERNAME}
-
-# Set the ownership of the overlay workspace to the new user
-RUN chown -R ${UID}:${GID} $OVERLAY_WS/
+# Expect to mount the source code from the host.
+VOLUME $PROJ_SRC
 
-# Set the user and source entrypoint in the user's .bashrc file
-USER ${USERNAME}
-RUN echo "source /entrypoint.sh" >> /home/${USERNAME}/.bashrc
+# Every bash instance should source the entrypoint
+RUN echo "source ${PROJ_SRC}/docker/entrypoint.sh" >> /root/.bashrc
 SHELL [ "/bin/bash", "-c" ]
+ENTRYPOINT [ "/bin/bash" ]
 
-#####################
-# Development Image #
-#####################
 FROM dev as dev-prebuilt
-RUN colcon build --symlink-install
+RUN colcon build --symlink-install

docker/entrypoint.sh

@@ -6,19 +6,10 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
 echo "Sourced ROS 2 ${ROS_DISTRO}"
 
 # Source the base workspace, if built
-if [ -f $BASE_WS/install/setup.bash ]
+if [ -f $WS/install/setup.bash ]
 then
-  source $BASE_WS/install/setup.bash
-  export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
-  echo "Sourced TurtleBot3 base workspace"
-fi
-
-# Source the overlay workspace, if built
-if [ -f $OVERLAY_WS/install/setup.bash ]
-then
-  source $OVERLAY_WS/install/setup.bash
-  export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
-  echo "Sourced autonomy overlay workspace"
+  source $WS/install/setup.bash
+  echo "Sourced workspace"
 fi
 
 # Execute the command passed into this entrypoint

docker/run_docker.sh

@@ -10,7 +10,6 @@ DOCKER_VOLUMES="
 --volume="${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority" \
 "
 DOCKER_ENV_VARS="
---env="TURTLEBOT3_MODEL=waffle_pi" \
 --env="DISPLAY" \
 --env="QT_X11_NO_MITSHM=1" \
 --env="NVIDIA_DRIVER_CAPABILITIES=all" \