Rely on stable ROS 2 packages (#69)

* Rely on stable ROS 2 packages

Signed-off-by: Yadunund <[email protected]>

* Unrelated style fix

Signed-off-by: Yadunund <[email protected]>

---------

Signed-off-by: Yadunund <[email protected]>

Author: Yadunund

Dockerfile.estimator

@@ -57,12 +57,8 @@ FROM base
 ARG SERVICE_PACKAGE=ibpc_pose_estimator_py
 ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator
 
-RUN apt update \
-    && sudo apt install curl -y \
-    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
 RUN apt-get update \
+    && apt upgrade -y \
     &&  apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-png python3-pip python3-scipy \
     && rm -rf /var/lib/apt/lists/*
 

Dockerfile.tester

@@ -41,12 +41,8 @@ RUN . /opt/ros/jazzy/setup.sh \
 # result stage: base + copied install folders from the overlay + service setup.
 FROM base
 
-RUN apt update \
-    && sudo apt install curl -y \
-    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
 RUN apt-get update \
+    && apt upgrade -y \
     &&  apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-pandas python3-png python3-pip python3-scipy \
     && rm -rf /var/lib/apt/lists/*
 

ibpc_py/src/ibpc/ibpc.py

@@ -278,7 +278,9 @@ def main():
     args_dict["name"] = ESTIMATOR_CONTAINER
     args_dict["network"] = "host"
     args_dict["extension_blacklist"] = ({},)
-    args_dict["volume"] = [[f"{args_dict['dataset']}/models:/opt/ros/underlay/install/3d_models"], ]
+    args_dict["volume"] = [
+        [f"{args_dict['dataset']}/models:/opt/ros/underlay/install/3d_models"],
+    ]
     if not args_dict["no_gpu"]:
         args_dict["cuda"] = True
         args_dict["nvidia"] = True