From dbb7c65300a9434704e38e42ddae95cb10cc35b6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Thu, 29 Jun 2023 14:18:07 +0200
Subject: [PATCH] Touchup Dockerfile and create a workflow building it (#323)

---
 .github/workflows/humble-docker-build.yaml  | 22 +++++++++++++++++++++
 .github/workflows/rolling-binary-build.yml  |  5 -----
 .github/workflows/rolling-docker-build.yaml | 22 +++++++++++++++++++++
 Dockerfile/Dockerfile                       | 16 ++++++++++++---
 4 files changed, 57 insertions(+), 8 deletions(-)
 create mode 100644 .github/workflows/humble-docker-build.yaml
 create mode 100644 .github/workflows/rolling-docker-build.yaml

diff --git a/.github/workflows/humble-docker-build.yaml b/.github/workflows/humble-docker-build.yaml
new file mode 100644
index 000000000..be2f12c47
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 3df16c819..f3d89c288 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.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
diff --git a/.github/workflows/rolling-docker-build.yaml b/.github/workflows/rolling-docker-build.yaml
new file mode 100644
index 000000000..5e9ff32f2
--- /dev/null
+++ b/.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
diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile
index 3ffbc8699..b91229f27 100644
--- a/Dockerfile/Dockerfile
+++ b/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 \