Simplify gisnav Dockerfile

Author: hmakelin

docker/gisnav/Dockerfile

@@ -1,15 +1,17 @@
 ARG ROS_VERSION
-FROM ros:${ROS_VERSION} AS builder
+FROM ros:${ROS_VERSION}
 
 ARG ROS_VERSION
+ENV ROS_VERSION=${ROS_VERSION}
 
 WORKDIR /opt/colcon_ws/src/
 
 COPY . gisnav/
 
 RUN apt-get update --fix-missing && \
-    apt-get -y dist-upgrade && \
-    chmod +x gisnav/docker/gisnav/entrypoint.sh
+    apt-get -y upgrade && \
+    mv gisnav/docker/gisnav/entrypoint.sh / && \
+    chmod +x /entrypoint.sh
 
 # Install GISNav dependencies
 RUN cd gisnav/gisnav && \
@@ -28,57 +30,26 @@ RUN apt-get -y install software-properties-common python3-pip wget && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-# Custom ROS messages (px4_msgs and mavros mavlink gimbal protocl v2 support)
-# Edits px4_msgs CMakeLists.txt so that only SensorGps message is built
-# Also comments out the lines corresponding to the disabled mavros_msgs CMakeLists.txt
-
-# List required mavros messages
-ENV ENABLED_MSGS="HilGPS GimbalDeviceAttitudeStatus GimbalManagerSetAttitude GimbalDeviceSetAttitude Altitude HomePosition HilGPS GPSINPUT"
-# All available mavros messages
-ENV ALL_MSGS="ADSBVehicle ActuatorControl Altitude AttitudeTarget CamIMUStamp CameraImageCaptured CellularStatus CommandCode CompanionProcessStatus DebugValue ESCInfo ESCInfoItem ESCStatus ESCStatusItem ESCTelemetry ESCTelemetryItem EstimatorStatus ExtendedState FileEntry GimbalDeviceAttitudeStatus GimbalDeviceInformation GimbalDeviceSetAttitude GimbalManagerInformation GimbalManagerSetAttitude GimbalManagerSetPitchyaw GimbalManagerStatus GPSINPUT GPSRAW GPSRTK GlobalPositionTarget HilActuatorControls HilControls HilGPS HilSensor HilStateQuaternion HomePosition LandingTarget LogData LogEntry MagnetometerReporter ManualControl Mavlink MountControl NavControllerOutput OnboardComputerStatus OpticalFlowRad OverrideRCIn Param ParamEvent ParamValue PlayTuneV2 PositionTarget RCIn RCOut RTCM RTKBaseline RadioStatus State StatusText TerrainReport Thrust TimesyncStatus Trajectory Tunnel VehicleInfo VfrHud Vibration Waypoint WaypointList WaypointReached WheelOdomStamped"
-
 RUN git clone --branch release/1.14 https://github.com/px4/px4_msgs.git && \
     sed -i 's/\*\.msg/SensorGps.msg/g' px4_msgs/CMakeLists.txt && \
     git clone --branch gimbal-protocol-v2-plugin \
-      https://github.com/adinkra-labs/mavros_feature_gimbal-protocol-v2-plugin.git mavros && \
-    #sed -i 's/tf2_eigen.hpp/tf2_eigen.h/g' mavros/mavros_extras/src/plugins/gimbal_control.cpp && \
-    for msg in $ALL_MSGS; do \
-    if [[ $ENABLED_MSGS != *"$msg"* ]]; then \
-      sed -i "s|msg/${msg}.msg|#&|g" mavros/mavros_msgs/CMakeLists.txt; \
-    fi; \
-    done
+      https://github.com/adinkra-labs/mavros_feature_gimbal-protocol-v2-plugin.git mavros
 
-# Find site-packages directory and assign its location to a build argument
-RUN PYTHON_SITE_PACKAGES=$(python3 -c "from distutils.sysconfig import get_python_lib; print(get_python_lib())") && \
-    echo "PYTHON_SITE_PACKAGES=$PYTHON_SITE_PACKAGES" > /tmp/python_site_packages.env
-
-# end MAVROS extras and plugins
-# Build
+# Build gisnav, px4_msgs and mavros_msgs
 SHELL ["/bin/bash", "-c"]
 RUN source /opt/ros/${ROS_VERSION}/setup.bash && \
+    apt-get -y update && \
+    rosdep update && \
+    rosdep install --from-paths . -y -r --ignore-src && \
     cd .. && \
     colcon build --packages-ignore mavros mavros_extras libmavconn
 
-# multi-stage build - runtime stage
-FROM ros:${ROS_VERSION}
-
-ARG ROS_VERSION
-ENV ROS_VERSION=${ROS_VERSION}
-
-# Load PYTHON_SITE_PACKAGES environment variable from a file
-COPY --from=builder /tmp/python_site_packages.env /tmp/
-RUN export PYTHON_SITE_PACKAGES=$(cat /tmp/python_site_packages.env | cut -d'=' -f2)
-
-COPY --from=builder /opt/colcon_ws/install /opt/colcon_ws/install
-COPY --from=builder /usr/share/GeographicLib /usr/share/GeographicLib
-COPY --from=builder /opt/colcon_ws/src/gisnav/docker/gisnav/entrypoint.sh /entrypoint.sh
-COPY --from=builder ${PYTHON_SITE_PACKAGES} ${PYTHON_SITE_PACKAGES}
-
+# TODO: proper health check - check that public facing topics are publishing
 HEALTHCHECK --interval=10s --timeout=3s \
   CMD /bin/bash -c "source /opt/ros/${ROS_VERSION}/setup.bash && \
-  ros2 node list | grep -q cv_node && \
+  ros2 node list | grep -q pose_node && \
   ros2 node list | grep -q gis_node" || exit 1
 
+
 WORKDIR /opt/colcon_ws/src/gisnav
-SHELL ["/bin/bash", "-c"]
 ENTRYPOINT ["/entrypoint.sh"]