dockerfile.base fix

Author: Li

docker/Dockerfile.base

@@ -8,25 +8,6 @@ ARG WORKSPACE
 ARG USER_CREDENTIALS
 
 
-####################
-## MICROROS IMAGE ##
-####################
-
-FROM ros:${ROSDISTRO}-ros-base AS micro-ros-agent-builder
-
-ARG ROSDISTRO
-ARG DEBIAN_FRONTEND=noninteractive
-
-WORKDIR /svea_ws
-
-RUN . /opt/ros/$ROSDISTRO/setup.sh \
-    &&  git clone -b $ROSDISTRO https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs \
-    &&  git clone -b $ROSDISTRO https://github.com/micro-ROS/micro-ROS-Agent src/micro-ROS-Agent \
-    &&  colcon build \
-    &&  rm -rf log/ build/ src/
-
-
-
 ####################
 ## MICROROS IMAGE ##
 ####################
@@ -58,8 +39,6 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 COPY --from=micro-ros-agent-builder /svea_ws /svea_ws
 
-COPY --from=micro-ros-agent-builder /svea_ws /svea_ws
-
 ## Install dependencies from apt-get
 
 RUN apt-get update -y && \
@@ -68,26 +47,17 @@ RUN apt-get update -y && \
         apt-utils lsb-release \
         build-essential cmake \
         openssh-server ca-certificates \
-        openssh-server ca-certificates \
         git vim nano curl iputils-ping \
         python3-pip \
         python3-rosdep \
         python3-vcstool \
-        python3-rosdep \
-        python3-vcstool \
         python3-colcon-common-extensions \
         ## Move these to rosdep?
         ros-$ROSDISTRO-ament-cmake-python \
         ros-$ROSDISTRO-ros-base=0.11.0-1* \
         # ros-$ROSDISTRO-rmw-zenoh-cpp \
         ros-$ROSDISTRO-teleop-twist-keyboard \
         ros-$ROSDISTRO-nav2-* \
-        ## Move these to rosdep?
-        ros-$ROSDISTRO-ament-cmake-python \
-        ros-$ROSDISTRO-ros-base=0.11.0-1* \
-        # ros-$ROSDISTRO-rmw-zenoh-cpp \
-        ros-$ROSDISTRO-teleop-twist-keyboard \
-        ros-$ROSDISTRO-nav2-* \
         && \
     rm -rf /var/lib/apt/lists/*
 
@@ -147,11 +117,8 @@ RUN apt-get update -y && \
         -qry \
         && \
     pip install \
-        --break-system-packages \
-        \
         --break-system-packages \
         -r requirements.txt \
-        \
         && \
     rm -rf /var/lib/apt/lists/*
 
@@ -172,34 +139,12 @@ ENV MICROROS_DISABLE_SHM=1
 RUN echo "source /opt/ros/$ROSDISTRO/setup.bash" >> ~/.bashrc && \
     echo "source /svea_ws/install/setup.bash" >> ~/.bashrc && \
     echo "source /svea_ws/install/local_setup.bash" >> ~/.bashrc
-# Ensure proper environment setup before build
-ENV CMAKE_PREFIX_PATH="/opt/ros/$ROSDISTRO"
-
-# Build the ROS 2 workspace
-RUN /bin/bash -c "source /opt/ros/$ROSDISTRO/setup.bash && \
-    colcon build --symlink-install"
-
-COPY firmware/disable_fastdds_shm.xml \
-     firmware/disable_fastdds_shm_localhost_only.xml \
-     /tmp/
-ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-ENV MICROROS_DISABLE_SHM=1
-
-# Source the setup file in the .bashrc for convenience
-RUN echo "source /opt/ros/$ROSDISTRO/setup.bash" >> ~/.bashrc && \
-    echo "source /svea_ws/install/setup.bash" >> ~/.bashrc && \
-    echo "source /svea_ws/install/local_setup.bash" >> ~/.bashrc
-
-##  Container entrypoint and default command
 
-# For fixing WSL error. TODO: investigate further
-RUN chmod +x ./entrypoint
 ##  Container entrypoint and default command
 
 # For fixing WSL error. TODO: investigate further
 RUN chmod +x ./entrypoint
 
-ENTRYPOINT ["./entrypoint"]
 ENTRYPOINT ["./entrypoint"]
 
 CMD ["bash"]