Improve incremental container builds

.dockerignore

@@ -0,0 +1,17 @@
+# Keep Docker build contexts lean for CloudXR compose builds.
+# Ignore everything by default, then allow only what current Dockerfiles need.
+
+*
+
+# Allow Docker metadata files.
+!.dockerignore
+
+# Allow CloudXR Dockerfiles and runtime assets.
+!deps/cloudxr/
+
+# Allow build artifacts and tests consumed by Dockerfile.test and Dockerfile.runtime.
+!install/
+!examples/
+
+# Allow src for ros2 workflows
+!src/

deps/cloudxr/Dockerfile.test

@@ -21,12 +21,12 @@ WORKDIR /app
 # Install uv for fast Python package management
 COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv
 
-# Copy the install directory (contains wheels, libs, native test binaries, etc.)
-COPY install/ /app/install/
-
 # Copy test files
 COPY examples/oxr/python/ /app/tests/
 
+# Copy the install directory (contains wheels, libs, native test binaries, etc.)
+COPY install/ /app/install/
+
 # Install Python dependencies using uv
 WORKDIR /app/tests
 RUN uv venv --python $PYTHON_VERSION /app/venv && \
@@ -39,7 +39,5 @@ ENV PATH="/app/venv/bin:$PATH"
 ENV PYTHONPATH="/app/install/lib:$PYTHONPATH"
 ENV XR_RUNTIME_JSON="/openxr/openxr_cloudxr.json"
 
-WORKDIR /app/tests
-
 # Default command runs the test script
 CMD ["python", "test_extensions.py"]

deps/cloudxr/docker-compose.test.yaml

@@ -31,8 +31,13 @@ services:
               capabilities: [ gpu ]
 
   # Test runner container
-  # Build with: docker build -t isaacteleop-tests:latest -f deps/cloudxr/Dockerfile.test .
+  # Build handled via docker compose using this service's build definition.
   isaacteleop-tests:
+    build:
+      context: ${CXR_BUILD_CONTEXT:?CXR_BUILD_CONTEXT must point to repository root}
+      dockerfile: deps/cloudxr/Dockerfile.test
+      args:
+        PYTHON_VERSION:
     image: isaacteleop-tests:latest
     pull_policy: never
     network_mode: host

scripts/run_tests_with_cloudxr.sh

@@ -248,22 +248,24 @@ fi
 export EXPECTED_ISAACTELEOP_VERSION
 log_info "Expected isaacteleop version from wheel artifact: $EXPECTED_ISAACTELEOP_VERSION"
 
-# Build test container
-log_info "Building test container..."
+# Build CloudXR runtime + test services via compose
+log_info "Building CloudXR runtime and test containers..."
 
-BUILD_ARGS="-q"
+COMPOSE_BUILD_ARGS=()
 if [ "$FORCE_BUILD" = true ]; then
-    BUILD_ARGS="$BUILD_ARGS --no-cache"
+    COMPOSE_BUILD_ARGS+=(--no-cache)
 fi
 
-docker build \
-    $BUILD_ARGS \
-    --build-arg PYTHON_VERSION="$PYTHON_VERSION" \
-    -t isaacteleop-tests:latest \
-    -f deps/cloudxr/Dockerfile.test \
-    .
+docker compose \
+    -p "$COMPOSE_PROJECT" \
+    --env-file "$ENV_DEFAULT" \
+    ${ENV_LOCAL:+--env-file "$ENV_LOCAL"} \
+    ${ENV_TEST:+--env-file "$ENV_TEST"} \
+    -f "$COMPOSE_RUNTIME" \
+    -f "$COMPOSE_TEST" \
+    build "${COMPOSE_BUILD_ARGS[@]}" cloudxr-runtime isaacteleop-tests
 
-log_success "Test container built successfully"
+log_success "CloudXR runtime and test containers built successfully"
 
 # Start CloudXR runtime services
 log_info "Starting CloudXR runtime services..."
@@ -275,7 +277,7 @@ docker compose \
     ${ENV_TEST:+--env-file "$ENV_TEST"} \
     -f "$COMPOSE_RUNTIME" \
     -f "$COMPOSE_TEST" \
-    up --build -d cloudxr-runtime
+    up -d cloudxr-runtime
 
 # Wait for CloudXR runtime to be healthy
 log_info "Waiting for CloudXR runtime to be healthy..."