From 59d20e121da2f344d3b2ed7bda93124444050115 Mon Sep 17 00:00:00 2001
From: Nicolas Hiillos <nicolashiillos@gmail.com>
Date: Tue, 21 Feb 2023 17:05:58 +0200
Subject: [PATCH] Fix docker build sourcing packages

---
 Dockerfile                                  | 48 ++++++++++-----------
 src/lite6_controller/lite6_controller.repos |  6 +--
 2 files changed, 23 insertions(+), 31 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 8cde6ed..34c04ad 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -39,38 +39,34 @@ RUN apt-get update && \
     apt-get install -yq python3-pip && \
     pip install --upgrade --upgrade-strategy eager splipy
 
-### Import and install dependencies, then build these dependencies (not ign_moveit2_examples yet)
-COPY ./drawing_robot_ros2.repos ${WS_SRC_DIR}/ign_moveit2_examples/drawing_robot_ros2.repos
-RUN vcs import --recursive --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/ign_moveit2_examples/drawing_robot_ros2.repos && \
-    rosdep update && \
-    apt-get update && \
-    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
-    rm -rf /var/lib/apt/lists/* && \
-    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
-    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
+# Build interfaces and generic controller first
+COPY ./src/robot_interfaces ${WS_SRC_DIR}/robot_interfaces
+COPY ./src/robot_controller ${WS_SRC_DIR}/robot_controller
+RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/robot_interfaces ${WS_SRC_DIR}/robot_controller && \
     rm -rf ${WS_LOG_DIR}
 
-### Copy over the rest of ign_moveit2_examples, then install dependencies and build
-COPY ./ ${WS_SRC_DIR}/ign_moveit2_examples/
-RUN rosdep update && \
-    apt-get update && \
-    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
-    rm -rf /var/lib/apt/lists/* && \
-    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
-    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
+# Build packages
+COPY ./src/draw_svg ${WS_SRC_DIR}/draw_svg
+COPY ./src/drawing_controller ${WS_SRC_DIR}/drawing_controller
+COPY ./src/axidraw_controller ${WS_SRC_DIR}/axidraw_controller
+RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    source "${WS_INSTALL_DIR}/local_setup.bash" && \
+    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/draw_svg ${WS_SRC_DIR}/drawing_controller ${WS_SRC_DIR}/axidraw_controller && \
     rm -rf ${WS_LOG_DIR}
 
-### Copy code built on top of example ign_moveit2_examples
-# TODO clean build process
-COPY ./src/* ${WS_SRC_DIR}/
-RUN rosdep update && \
-    apt-get update && \
-    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
-    rm -rf /var/lib/apt/lists/* && \
-    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
-    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
+# Build lite6 and xarm packages
+COPY ./src/lite6_controller ${WS_SRC_DIR}/lite6_controller
+RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    vcs import --recursive --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/lite6_controller/lite6_controller.repos && \
+    mv ${WS_SRC_DIR}/xarm_ros2/xarm* ${WS_SRC_DIR} && \
+    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR}/xarm_* && \
+    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" --paths ${WS_SRC_DIR}/xarm_* ${WS_SRC_DIR}/lite6_controller && \
     rm -rf ${WS_LOG_DIR}
 
+# Copy example svg images
+COPY ./svg svg
+
 ### Add workspace to the ROS entrypoint
 ### Source ROS workspace inside `~/.bashrc` to enable autocompletion
 RUN sed -i '$i source "${WS_INSTALL_DIR}/local_setup.bash" --' /ros_entrypoint.sh && \
diff --git a/src/lite6_controller/lite6_controller.repos b/src/lite6_controller/lite6_controller.repos
index 21cb160..d8d6016 100644
--- a/src/lite6_controller/lite6_controller.repos
+++ b/src/lite6_controller/lite6_controller.repos
@@ -1,9 +1,5 @@
 repositories:
-  ros2_controllers:
-    type: git
-    url: https://github.com/AndrejOrsula/ros2_controllers.git
-    version: jtc_effort
   xarm_ros2:
     type: git
     url: https://github.com/xArm-Developer/xarm_ros2
-    version: galactic
+    version: humble