From 7bb468307d9a96a080b69efd9d227b475abd80c6 Mon Sep 17 00:00:00 2001
From: paulbourelly999 <77466294+paulbourelly999@users.noreply.github.com>
Date: Mon, 6 May 2024 09:44:21 -0400
Subject: [PATCH] Fix target directory for cloned ros1_bridge repository to
 ensure it is built in final image (#237)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

<!--- Describe your changes in detail -->
This PR updates `checkout.bash` to change the target directory in which
the `ros1_bridge` repo is cloned into when the `BRANCH` environment
variable is set to `develop`. Prior to this change, when `BRANCH` was
set to `develop`, the `ros1_bridge` repo was cloned into
/home/carma/src, but the `install.sh` script only builds ROS 2 packages
located at ~/.base-image/ros2_msgs_ws

## Related GitHub Issue
NA
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issues or Jira Keys -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
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to reproduce -->
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specific to this fix -->
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## Related Jira Key
CAR-6031
<!-- e.g. CAR-123 -->


## Motivation and Context
See above
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Local integration test
<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
to -->
<!--- see how your change affects other areas of the code, etc. -->
CI (docker/docker action)

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [x] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
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here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

---------

Co-authored-by: Misheel Bayartsengel <misheel.bayart@gmail.com>
---
 .github/workflows/docker.yml |  2 ++
 docker/checkout.bash         | 22 ++++++++++++----------
 docker/install.sh            |  5 ++++-
 3 files changed, 18 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 738b884..d861d53 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -7,3 +7,5 @@ on:
 jobs:
   docker:
     uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
+    with:
+      runner: ubuntu-latest-16-cores
\ No newline at end of file
diff --git a/docker/checkout.bash b/docker/checkout.bash
index 65c9ddc..f39aa6b 100755
--- a/docker/checkout.bash
+++ b/docker/checkout.bash
@@ -1,13 +1,13 @@
 #!/bin/bash
 
 #  Copyright (C) 2018-2021 LEIDOS.
-# 
+#
 #  Licensed under the Apache License, Version 2.0 (the "License"); you may not
 #  use this file except in compliance with the License. You may obtain a copy of
 #  the License at
-# 
+#
 #  http://www.apache.org/licenses/LICENSE-2.0
-# 
+#
 #  Unless required by applicable law or agreed to in writing, software
 #  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -41,20 +41,22 @@ cd ${dir}/src
 
 
 # clone carma repos
-
+# Currently autoware.ai is being cloned into a hardcoded directory
+# that the install script is also hardcoded to look for. This should be uncoupled:
+# https://github.com/usdot-fhwa-stol/carma-platform/issues/2374
 if [[ "$BRANCH" == "develop" ]]; then
       cd /home/carma/
       git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-"$BRANCH"
-      cd ${dir}/src 
+      cd ${dir}/src
       git clone  https://github.com/usdot-fhwa-stol/ros1_bridge.git --depth 1 --branch "$BRANCH"
 elif [[ "$BRANCH" == "master" ]]; then
-      cd /home/carma/   
+      cd /home/carma/
       git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch carma-"$BRANCH"
-      cd /home/carma/.base-image/workspace/src
+      cd ${dir}/src
       git clone https://github.com/usdot-fhwa-stol/ros1_bridge.git  --depth 1 --branch carma-"$BRANCH"
 else
-      cd /home/carma/   
+      cd /home/carma/
       git clone https://github.com/usdot-fhwa-stol/autoware.ai.git --depth 1 --branch "$BRANCH"
-      cd /home/carma/.base-image/workspace/src
-      git clone https://github.com/usdot-fhwa-stol/ros1_bridge.git  --depth 1 --branch "$BRANCH"    
+      cd ${dir}/src
+      git clone https://github.com/usdot-fhwa-stol/ros1_bridge.git  --depth 1 --branch "$BRANCH"
 fi
diff --git a/docker/install.sh b/docker/install.sh
index 1cf1886..54cd28f 100755
--- a/docker/install.sh
+++ b/docker/install.sh
@@ -1,7 +1,10 @@
 #!/bin/bash
 set -e
+
+# Checkout dependent repositories
+/home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/checkout.bash -r /home/carma/.base-image/workspace
+
 # ROS 1 msgs setup
-/home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/checkout.bash
 cp -R /home/carma/autoware.ai/messages /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
 cp -R /home/carma/autoware.ai/jsk_common_msgs /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
 cp -R /home/carma/autoware.ai/jsk_recognition /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/