Optimizing Dockerfile

Author: mgonzs13

Dockerfile

@@ -1,25 +1,35 @@
 ARG ROS_DISTRO=humble
-FROM ros:${ROS_DISTRO} AS deps
+FROM ros:${ROS_DISTRO}-ros-core AS deps
+
+# Install system dependencies early for better caching
+RUN apt update && apt install -y --no-install-recommends \
+    git \
+    build-essential \
+    python3-pip \
+    python3-rosdep \
+    python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
 
 # Create ros2_ws and copy files
 WORKDIR /root/ros2_ws
-SHELL ["/bin/bash", "-c"]
 COPY . /root/ros2_ws/src
 
-# Install dependencies
-RUN apt-get update
-RUN apt-get -y --quiet --no-install-recommends install python3 python3-pip
-RUN rosdep install --from-paths src --ignore-src -r -y
+# Install ROS dependencies
+RUN rosdep init && rosdep update --include-eol-distros
+RUN apt update && rosdep install --from-paths src --ignore-src -r -y && rm -rf /var/lib/apt/lists/*
 
-RUN if [ "$(lsb_release -rs)" = "24.04" ] || [ "$(lsb_release -rs)" = "24.10" ]; then \
-    pip3 install -r src/requirements.txt --break-system-packages --ignore-installed; \
+# Install Python packages
+RUN if [ "$(lsb_release -rs | cut -d. -f1)" -ge 24 ]; then \
+    pip3 install -r src/requirements.txt --break-system-packages --ignore-installed --no-cache-dir; \
     else \
-    pip3 install -r src/requirements.txt; \
+    pip3 install -r src/requirements.txt --no-cache-dir; \
     fi
 
-# Build the ws with colcon
 FROM deps AS builder
-ARG CMAKE_BUILD_TYPE=Release
+
+SHELL ["/bin/bash", "-c"]
+
+# Build the workspace
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build
 
 # Source the ROS 2 setup file