From 8b46f61fb94ba179752256bbebd1f0ad742d8222 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Mon, 10 Jun 2024 18:03:04 +0200
Subject: [PATCH] tweaks to build

---
 Dockerfile                                     |  8 ++++++--
 dependencies.repos                             | 10 +++++-----
 package.xml                                    |  2 +-
 bashrc_fragment.sh => ros_catkin_entrypoint.sh |  8 ++++++--
 4 files changed, 18 insertions(+), 10 deletions(-)
 rename bashrc_fragment.sh => ros_catkin_entrypoint.sh (70%)

diff --git a/Dockerfile b/Dockerfile
index 29664d2..521608a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -25,8 +25,12 @@ RUN rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.bash && catkin build
 
+COPY ros_catkin_entrypoint.sh /usr/local/bin/ros_catkin_entrypoint.sh
+
+RUN chmod +x /usr/local/bin/ros_catkin_entrypoint.sh
+
+# Always source ros_catkin_entrypoint.sh when launching bash (e.g. when attaching to container)
 RUN echo "source /usr/local/bin/ros_catkin_entrypoint.sh" >> /root/.bashrc
-RUN echo 'source $CATKIN_WS/src/biodigitalmatter_ros/bashrc_fragment' >> /root/.bashrc
 
-ENTRYPOINT ["roslaunch" "biodigitalmatter_ros" "bringup.lauch"]
+ENTRYPOINT ["/usr/local/bin/ros_catkin_entrypoint.sh"]
 CMD ["bash"]
diff --git a/dependencies.repos b/dependencies.repos
index ec66972..73f1f15 100644
--- a/dependencies.repos
+++ b/dependencies.repos
@@ -1,6 +1,10 @@
 # -*- mode: yaml -*-
 ---
 repositories:
+  abb:
+    type: git
+    url: https://github.com/ros-industrial/abb.git
+    version: kinetic-devel
   abb_irb4600_40_255:
     type: git
     url: https://github.com/gramaziokohler/abb_irb4600_40_255.git
@@ -13,14 +17,10 @@ repositories:
     type: git
     url: https://github.com/compas-rrc/compas_rrc_ros.git
     version: v1.1.3
-  ros_file_server:
+  file_server:
     type: git
     url: https://github.com/gramaziokohler/ros_file_server.git
     version: master
-  abb:
-    type: git
-    url: https://github.com/ros-industrial/abb.git
-    version: kinetic-devel
   axis_camera:  # need newer than what's in rosdep
     type: git
     url: https://github.com/ros-drivers/axis_camera.git
diff --git a/package.xml b/package.xml
index ce8cf4d..2df201a 100644
--- a/package.xml
+++ b/package.xml
@@ -18,7 +18,7 @@
   <exec_depend>compas_rrc_driver</exec_depend>
   <exec_depend>abb_irb4600_40_255_moveit_config</exec_depend>
   <exec_depend>file_server</exec_depend>
-  <exec_depend>depthai-ros</exec_depend> <!-- luxonis -->
+  <exec_depend>depthai</exec_depend> <!-- luxonis -->
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>rgbd_launch</exec_depend> <!-- dep realsense2 -->
   <exec_depend>axis_camera</exec_depend>
diff --git a/bashrc_fragment.sh b/ros_catkin_entrypoint.sh
similarity index 70%
rename from bashrc_fragment.sh
rename to ros_catkin_entrypoint.sh
index 956ca53..85bdd72 100644
--- a/bashrc_fragment.sh
+++ b/ros_catkin_entrypoint.sh
@@ -1,6 +1,8 @@
-source /opt/ros/noetic/setup.bash
+#!/bin/bash
 
-export CATKIN_WS=~/catkin_ws
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+
+export CATKIN_WS=${CATKIN_WS:-$HOME/catkin_ws}
 
 if [ -f $CATKIN_WS/devel/setup.bash ] ; then 
   source $CATKIN_WS/devel/setup.bash
@@ -13,3 +15,5 @@ if [ -f $CATKIN_WS/src/biodigitalmatter_ros/.env ] ; then
 fi
 
 mkdir -p ~/rosbags
+
+exec "$@"