Only use combined overlay

given mix of build dependencies

Author: ruffsl

Dockerfile

@@ -1,21 +1,16 @@
 ARG FROM_IMAGE=ros:foxy
-ARG UNDERLAY_WS=/opt/underlay_ws
 ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching
 FROM $FROM_IMAGE AS cacher
 
-# copy underlay source
-ARG UNDERLAY_WS
-WORKDIR $UNDERLAY_WS/src
-COPY ./ ./ros2-rust/ros2_rust
-
 # clone overlay source
 ARG OVERLAY_WS
 WORKDIR $OVERLAY_WS/src
 COPY ./ros2_rust.repos ../
 RUN vcs import ./ < ../ros2_rust.repos && \
     find ./ -name ".git" | xargs rm -rf
+COPY ./ ./ros2-rust/ros2_rust
 
 # copy manifests for caching
 WORKDIR /opt
@@ -56,49 +51,26 @@ RUN set -eux; \
     cargo --version; \
     rustc --version;
 
-# install underlay dependencies
-ARG UNDERLAY_WS
-WORKDIR $UNDERLAY_WS
-COPY --from=cacher /tmp/$UNDERLAY_WS ./
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    apt-get update && rosdep install -q -y \
-      --from-paths src \
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
-
-# build underlay source
-COPY --from=cacher $UNDERLAY_WS ./
-ARG UNDERLAY_MIXINS="release ccache"
-ARG FAIL_ON_BUILD_FAILURE=True
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon build \
-      --symlink-install \
-      --mixin $UNDERLAY_MIXINS \
-      --event-handlers console_direct+ \
-    || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
-
 # install overlay dependencies
 ARG OVERLAY_WS
 WORKDIR $OVERLAY_WS
 COPY --from=cacher /tmp/$OVERLAY_WS ./
-RUN . $UNDERLAY_WS/install/setup.sh && \
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
-        $UNDERLAY_WS/src \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
 # build overlay source
 COPY --from=cacher $OVERLAY_WS ./
 ARG OVERLAY_MIXINS="release ccache"
-RUN . $UNDERLAY_WS/install/setup.sh && \
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build \
       --symlink-install \
       --mixin $OVERLAY_MIXINS \
     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
 
 # source overlay from entrypoint
-ENV UNDERLAY_WS $UNDERLAY_WS
 ENV OVERLAY_WS $OVERLAY_WS
 RUN sed --in-place \
       's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \