From 45fd06c6e9e8f813f72eca0cf7302ebca4834c27 Mon Sep 17 00:00:00 2001
From: Erik Holum <eholum@gmail.com>
Date: Tue, 22 Oct 2024 11:46:34 -0400
Subject: [PATCH] Fix the navigation2 build (issue #198)

---
 navigation2/Dockerfile | 21 +++++++++++++++------
 navigation2/README.md  |  6 +++---
 2 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/navigation2/Dockerfile b/navigation2/Dockerfile
index 6c6f2d7..0f059f4 100644
--- a/navigation2/Dockerfile
+++ b/navigation2/Dockerfile
@@ -43,8 +43,17 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 SHELL ["/bin/bash", "-c"]
 
+# Install required dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt update && \
+    sudo apt install -y \
+    python3-rosdep \
+    python3-vcstool
+RUN sudo rosdep init && rosdep update
+
 # Define workspace locations
-ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
+ENV NAVIGATION2_WS=${HOME}/nav2_ws
 
 RUN mkdir -p ${NAVIGATION2_WS}/src
 
@@ -56,19 +65,19 @@ RUN vcs import --shallow src < navigation2.repos
 COPY --chown=spaceros-user:spaceros-user src/ src
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
-    source ${SPACEROS_DIR}/install/setup.bash && \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    source ${SPACEROS_DIR}/setup.bash && \
     sudo apt update && \
     rosdep install -i --from-path src --skip-keys $(cat excluded-pkgs.txt) -y
-RUN source ${SPACEROS_DIR}/install/setup.bash && \
+RUN source ${SPACEROS_DIR}/setup.bash && \
     colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli
 RUN rm -rf src build log
 
 
-# Install rviz2 to send goals to Nav2. 
+# Install rviz2 to send goals to Nav2.
 # TODO(xfiderek): Remove rviz2 and humble-nav2 froms this image
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \  
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
     sudo apt update && \
     sudo apt install -y ros-humble-rviz2 ros-humble-nav2-bringup
 
diff --git a/navigation2/README.md b/navigation2/README.md
index 1b8bb04..d9a2a65 100644
--- a/navigation2/README.md
+++ b/navigation2/README.md
@@ -33,9 +33,9 @@ docker image list
 The output will look something like this:
 
 ```
-REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
-osrf/space_nav2         latest                     6edb2edc9643   10 hours ago   15.5GB
-osrf/space-ros           latest                     629b13cf7b74   12 hours ago   7.8GB
+REPOSITORY                       TAG       IMAGE ID       CREATED          SIZE
+osrf/space_nav2                  latest    7016292fba1c   32 minutes ago   3.65GB
+osrf/space-ros                   latest    cf10cd2cb82c   4 days ago       1.05GB
 ```
 
 The new image is named **osrf/space_nav2:latest**.