From 19aecee4c435c1948c42b82448e1bc92ba4d4875 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Mon, 27 Jan 2025 17:21:34 +0100
Subject: [PATCH] Merged ros dockerfiles.

---
 extras/jetson/README.md      |  4 +--
 extras/jetson/dockerfile_ros | 60 ------------------------------------
 extras/ros/dockerfile        |  6 ++--
 3 files changed, 5 insertions(+), 65 deletions(-)
 delete mode 100644 extras/jetson/dockerfile_ros

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 2a38870..971e0b4 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -116,13 +116,13 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Build docker container:
 
   ```bash
-  docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
+  docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros .
   ./run_container.sh
   ```
 
 - Run and test:
   ```bash
-  xhost +; docker compose -f extras/jetson/docker-compose.yml up
+  docker compose -f extras/jetson/docker-compose.yml up
 
   docker exec -it ros-test_node-1 bash
   export ROS_DOMAIN_ID=18
diff --git a/extras/jetson/dockerfile_ros b/extras/jetson/dockerfile_ros
deleted file mode 100644
index dd086b8..0000000
--- a/extras/jetson/dockerfile_ros
+++ /dev/null
@@ -1,60 +0,0 @@
-FROM rapidposetriangulation
-WORKDIR /
-
-ARG DEBIAN_FRONTEND=noninteractive
-ENV LANG=C.UTF-8
-ENV LC_ALL=C.UTF-8
-WORKDIR /
-
-# Install ROS2
-# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
-RUN apt-get update && apt-get install -y --no-install-recommends locales
-RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
-RUN add-apt-repository universe
-RUN apt-get update && apt-get install -y --no-install-recommends curl
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
-RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
-RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
-RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
-
-# Create ROS2 workspace for basic packages
-RUN mkdir -p /project/base/src/
-RUN cd /project/base/; colcon build
-RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc
-
-# Fix ros package building error
-RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
-
-# Install opencv and cv_bridge
-RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
-RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
-RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
-RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
-RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
-
-# Create ROS2 workspace for project packages
-RUN mkdir -p /project/dev_ws/src/
-RUN cd /project/dev_ws/; colcon build
-RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
-
-# Copy modules
-COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
-COPY ./scripts/ /RapidPoseTriangulation/scripts/
-COPY ./extras/ros/rpt2d_wrapper_cpp /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
-
-# Link and build as ros package
-RUN ln -s  /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
-RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
-
-# Update ros packages -> autocompletion and check
-RUN /bin/bash -i -c 'ros2 pkg list'
-
-# Clear cache to save space, only has an effect if image is squashed
-RUN apt-get autoremove -y \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-WORKDIR /RapidPoseTriangulation/
-CMD ["/bin/bash"]
diff --git a/extras/ros/dockerfile b/extras/ros/dockerfile
index 07de25d..26d9da0 100644
--- a/extras/ros/dockerfile
+++ b/extras/ros/dockerfile
@@ -14,6 +14,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-
 RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
 RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
 
+# Fix ros package building error
+RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
+
 # Create ROS2 workspace for basic packages
 RUN mkdir -p /project/base/src/
 RUN cd /project/base/; colcon build
@@ -39,9 +42,6 @@ RUN mkdir -p /project/dev_ws/src/
 RUN cd /project/dev_ws/; colcon build
 RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
 
-# Fix ros package building error
-RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
-
 # Copy modules
 COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
 COPY ./scripts/ /RapidPoseTriangulation/scripts/