From 0e24b5f84d9351d3ddf69738130fbb86d5ff47dc Mon Sep 17 00:00:00 2001
From: Sanjay Jayalakshmi Prabakar <sjayalak@purdue.edu>
Date: Mon, 16 Sep 2024 00:31:32 -0400
Subject: [PATCH] Updated the CI not running error and instructions

---
 cadre_demo/Dockerfile |  9 +++++++--
 cadre_demo/README.md  | 12 ++++++------
 2 files changed, 13 insertions(+), 8 deletions(-)

diff --git a/cadre_demo/Dockerfile b/cadre_demo/Dockerfile
index 870922ae..9a36af18 100755
--- a/cadre_demo/Dockerfile
+++ b/cadre_demo/Dockerfile
@@ -1,4 +1,3 @@
-
 # Base image
 FROM osrf/space-ros:latest
 
@@ -20,7 +19,13 @@ RUN apt-get install -y \
   python3-rosdep \
   python3-setuptools \
   python3-vcstool \
-  wget
+  wget \
+  # Install additional utilities
+  ros-humble-xacro \
+  ros-humble-rviz2 \
+  # Clean up to reduce image size
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
 
 # Install ROS 2 dependencies
 RUN apt-get update && apt-get install -y \
diff --git a/cadre_demo/README.md b/cadre_demo/README.md
index 39228a16..e7f7bdf0 100644
--- a/cadre_demo/README.md
+++ b/cadre_demo/README.md
@@ -156,7 +156,7 @@ Spawn coordinates[ x_,y_z_,roll_,pitch_yaw_]- location of the new rover
 
 Follow these passages to build the docker image and start a docker container.
 
-1. Clone this repository, change the directory to demos\CADRE_demo
+1. Clone this repository, Go inside the directory to demos\CADRE_demo
 
 2. Run the build script 
 ``````
@@ -167,8 +167,7 @@ chmod +x build.sh
 3. Start the container by executing
 
 ```
-chmod +x run.sh
-./run.sh
+docker run -it --entrypoint /bin/bash openrobotics/cadre_demo
 ```
 
 4. (optional) Additional terminals can be opened by executing
@@ -193,12 +192,13 @@ source /opt/ros/${ROS_DISTRO}/setup.bash
 2. Build Your Workspace ex: CADRE_demo
 
 ```
-cd ~/CADRE_demo/
+cd ..
+cd CADRE_demo/
 colcon build --symlink-install
 ```
 3. Source your workspace. 
 ```
-source ~/CADRE_demo/install/setup.bash
+source install/setup.bash
 ```
 
 4. Run the launch file.
@@ -216,7 +216,7 @@ With this, will start the gazebo simulator and Rviz with the three CADRE rovers
 In another terminal,
 
 1. Excutable Premmsion for python files.
-```cd ~/CADRE_demo/src/robot_control/scripts/
+```cd CADRE_demo/src/robot_control/scripts/
     chmod +x joy.py
     chmod +x mapping.py
 ```