From e250038601daba0d9cbd8877a95bb0a4c9a4225f Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Fri, 19 Jan 2024 19:39:32 -0700
Subject: [PATCH] Add multistage, fix cache, add rviz dep

* This complets the requests for the PR
* Bind mounts on the build reduce cache busting
* Add default bash shell
* Added parameters for the build type and ROS distro to use

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 Dockerfile  | 35 +++++++++++++++++++----------------
 Makefile    |  4 ----
 package.xml |  4 +++-
 3 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 6f8f472..cf74634 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,28 +1,31 @@
 # Use the official ROS 2 humble base image
-FROM ros:humble
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO} as deps
 
 # Set the working directory
-WORKDIR /root/ros2_ws/src
+WORKDIR /root/ros2_ws
 
-COPY . .
-# Install additional dependencies
-RUN apt-get update \
-    && apt-get -y --quiet --no-install-recommends install \
-    ros-humble-rviz2
+SHELL ["/bin/bash", "-c"]
 
-# Set environment variables
-ENV ROS_VERSION 2
-WORKDIR /root/ros2_ws
-RUN . /opt/ros/humble/setup.sh
-RUN rosdep update
-RUN rosdep install --from-paths src --ignore-src -y
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+RUN --mount=type=bind,source=package.xml,target=src/grid_map_geo/package.xml \ 
+    apt update && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y
+
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]
 
-RUN . /opt/ros/humble/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map_geo
+FROM deps as builder
+ARG CMAKE_BUILD_TYPE=Release
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+COPY . .
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} --packages-up-to grid_map_geo
 
 # Source the ROS2 setup file
 RUN echo "source /root/ros2_ws/install/setup.bash" >> ~/.bashrc
-# Expose the default ROS 2 communication ports
-EXPOSE 11311
 
 # Run a default command, e.g., starting a bash shell
 CMD ["bash"]
diff --git a/Makefile b/Makefile
index 50865b8..0491396 100644
--- a/Makefile
+++ b/Makefile
@@ -5,7 +5,3 @@ docker_build:
 .PHONY : docker_run
 docker_run:
 	docker run -it --net=host --ipc=host --privileged --env="DISPLAY"  --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority"  --entrypoint /bin/bash gmg
-
-
-
-
diff --git a/package.xml b/package.xml
index ac5463e..9524e52 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,10 @@
   <depend>libgdal-dev</depend>
   <depend>rclcpp</depend>
   <depend>yaml_cpp_vendor</depend>
-  <exec_depend>ros2launch</exec_depend>
+
   <exec_depend>grid_map_rviz_plugin</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>rviz2</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>