tested

Dockerfile.binary

@@ -1,20 +1,16 @@
-ARG VERSION=0.2.1
-ARG DISTRO=focal
-ARG BASE_IMAGE=nvidia/opengl:1.2-glvnd-runtime-ubuntu20.04
+FROM lmark1/uav_ros_simulation:focal-bin-0.2.1
 
-FROM lmark1/uav_ros_stack:$DISTRO-bin-$VERSION
-
-# https://blog.alexellis.io/mutli-stage-docker-builds/ - Neat!
-FROM $BASE_IMAGE
-
-# Use ARG - persists only during docker build
-# https://github.com/moby/moby/issues/4032#issuecomment-192327844
-ARG CATKIN_WORKSPACE=sim_ws
 ARG HOME=/root
+ARG CATKIN_WORKSPACE=sim_ws
 ARG USER=root
-ENV DEBIAN_FRONTEND=noninteractive
-ENV GITHUB_RUNNER=true
-RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
+RUN apt-get update && apt-get install -q -y \
+    vim \
+    nano
+
+WORKDIR $HOME/$CATKIN_WORKSPACE/src
+RUN apt-get install openssh-client git
+RUN mkdir -p -m 0600 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
 # Install all the things to stop docker build from breaking
 RUN ln -fs /usr/share/zoneinfo/Europe/Zagreb /etc/localtime && \
@@ -27,42 +23,22 @@ RUN ln -fs /usr/share/zoneinfo/Europe/Zagreb /etc/localtime && \
     dialog \
     curl \
     vim \
+    nano \
     tzdata \
     openssh-client \
     vim \
     git \
     bash-completion && \
     dpkg-reconfigure --frontend noninteractive tzdata
 
-# download public key for github.com
-RUN mkdir -p -m 0600 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
-
-# Install uav_ros_simulation and setup catkin workspace
-WORKDIR $HOME
-COPY --from=0 $HOME/uav_ws $HOME/uav_ws
-
-RUN --mount=type=ssh git clone git@github.com:larics/uav_ros_simulation.git && \
-  ./uav_ros_simulation/installation/install_and_setup_workspace.sh --workspace $CATKIN_WORKSPACE --sparse
-
 # Build catkin workspace
 WORKDIR $HOME/$CATKIN_WORKSPACE/src
-SHELL ["/bin/bash", "-c"]
 
-# Add sourcing
-RUN echo "source $HOME/uav_ws/install/setup.bash" >> $HOME/.bashrc && \
-  # 1) remove uav_ws sourcing, need to add it after..
-  sed -i "s|source $HOME/$CATKIN_WORKSPACE/devel/setup.bash||g" $HOME/.bashrc
+# Build the Catkin workspace
+RUN catkin build --limit-status-rate 0.2
 
-# Build
-RUN source /root/.bashrc && \
-  catkin clean --yes && \
-  catkin config --extend /root/uav_ws/install && \
-  catkin build --limit-status-rate 0.2
+ARG ROS_HOSTNAME=localhost.local
+ARG ROS_MASTER_URI=http://localhost.local:11311
+ARG ROS_IP=localhost.local
 
-# 2) .. add source sim_ws NOW
-RUN echo "source $HOME/$CATKIN_WORKSPACE/devel/setup.bash" >> $HOME/.bashrc && \
-  # 3) Expose uav_ws packages
-  echo 'export ROS_PACKAGE_PATH='"$HOME"'/uav_ws/install/share:$ROS_PACKAGE_PATH' >> $HOME/.bashrc
-
-# Prepare for startup
-WORKDIR $HOME/$CATKIN_WORKSPACE/src
+WORKDIR $HOME/$CATKIN_WORKSPACE/src

README.md

@@ -37,8 +37,8 @@ Prebuilt images for ```uav_ros_simulation``` found at [DockerHub lmark1/uav_ros_
 
 UAV simulations are launched as tmuxinator sessions as follows.
 ```bash
-cd ~/uav_ros_simulation/startup/kopterworx_one_flying
-./start.sh
+roscd uav_ros_simulation
+./startup/kopterworx_one_flying/start.sh
 ```
 
 To find out more about navigating the simulation environment please read [HOWTO.md](HOWTO.md).

docker_build.sh

@@ -52,4 +52,4 @@ docker build \
     --build-arg ROS_IP=$ROS_IP \
     -f $DOCKERFILE \
     --ssh default \
-    -t $IMAGE_NAME:$distro .
+    -t $IMAGE_NAME:$ros_distro .

docker_run.sh

@@ -78,5 +78,5 @@ docker run \
   --env DISPLAY=$DISPLAY \
   --env TERM=xterm-256color \
   --name $full_container_name \
-  uav_ros_simulation:$distro \
+  uav_ros_simulation:focal \
   /bin/bash