Merge pull request #3 from helix-robotics-ag/mx/remove_config_duplica…

…tion_by_using_compose_consistently

Remove duplicated run_dev/run_prod configuration.

build.sh

@@ -1,5 +1,5 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
-docker build --progress=plain -t ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron .
+docker compose -f $SCRIPT_DIR/docker-compose.yml build 

docker-compose.yml

@@ -0,0 +1,17 @@
+version: '3'
+
+services:
+  ros-helix:
+    image: ghcr.io/helix-robotics-ag/ros-helix:iron
+    build:
+      context: .
+      dockerfile: Dockerfile
+    restart: always
+    network_mode: "host"
+    privileged: true
+    ipc: host
+    pid: host
+    environment:
+      - UID=${HOST_UID}
+      - ROS_DOMAIN_ID
+    command: su - ros --whitelist-environment=ROS_DOMAIN_ID /run.sh

run.sh

@@ -1,15 +1,11 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
-docker run -it --rm \
---network=host \
---ipc=host \
---pid=host \
---env UID=${MY_UID} \
---env ROS_DOMAIN_ID \
---privileged \
---volume ./helix_bringup:/colcon_ws/src/helix_bringup \
---volume ./helix_description:/colcon_ws/src/helix_description \
---volume ./dynamixel_hardware:/colcon_ws/src/dynamixel_hardware \
-ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron
+export HOST_UID=$(id -u)
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml run \
+--volume $SCRIPT_DIR/helix_bringup:/colcon_ws/src/helix_bringup \
+--volume $SCRIPT_DIR/helix_description:/colcon_ws/src/helix_description \
+--volume $SCRIPT_DIR/dynamixel_hardware:/colcon_ws/src/dynamixel_hardware \
+ros-helix bash