Touchup Dockerfile and create a workflow building it (#323)

.github/workflows/humble-docker-build.yaml

@@ -0,0 +1,22 @@
+name: Build Humble Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+ pull_request:
+ branches:
+ - humble
+ push:
+ branches:
+ - humble
+ schedule:
+ # Run every morning to detect broken dependencies
+ - cron: '40 1 * * *'
+
+
+jobs:
+ build:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v3
+ - name: Build the Docker image
+ run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble

.github/workflows/rolling-binary-build.yml

@@ -13,11 +13,6 @@ on:
  # Run every morning to detect flakiness and broken dependencies
  - cron: '03 1 * * *'
 
-#TODO(christophfroehlich): remove once it is released
-# otherwise ros-gz won't build
-env:
- GZ_VERSION: fortress
-
 jobs:
  binary:
  uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml

.github/workflows/rolling-docker-build.yaml

@@ -0,0 +1,22 @@
+name: Build Rolling Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+ pull_request:
+ branches:
+ - master
+ push:
+ branches:
+ - master
+ schedule:
+ # Run every morning to detect broken dependencies
+ - cron: '50 1 * * *'
+
+
+jobs:
+ build:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v3
+ - name: Build the Docker image
+ run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling

Dockerfile/Dockerfile

@@ -5,13 +5,23 @@ FROM ros:${ROS_DISTRO}-ros-base
 ENV DEBIAN_FRONTEND noninteractive
 
 RUN apt-get update \
- && apt-get upgrade -y
+ && apt-get upgrade -y \
+ && \
+ : "remove cache" && \
+ apt-get autoremove -y -qq && \
+ rm -rf /var/lib/apt/lists/*
 
 COPY . /home/ros2_ws/src/ros2_control_demos
 
 RUN cd /home/ros2_ws/src \
- && rosdep update \
- && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --skip-keys rviz2
+ && rosdep update --rosdistro ${ROS_DISTRO} \
+ && apt-get update \
+ && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} \
+ --skip-keys ros-${ROS_DISTRO}-joint-state-publisher-gui --skip-keys ros-${ROS_DISTRO}-rviz2\
+ && \
+ : "remove cache" && \
+ apt-get autoremove -y -qq && \
+ rm -rf /var/lib/apt/lists/*
 
 RUN cd /home/ros2_ws/ \
  && . /opt/ros/${ROS_DISTRO}/setup.sh \