🔨 Updated Dockerfile for optimisation and to set default RMW to be CycloneDDS.

Signed-off-by: gary.bey <gary.bey@kabam.ai>

Author: cardboardcode

Dockerfile

@@ -1,25 +1,23 @@
-FROM ros:jazzy-perception-noble
-
-# Add user
-RUN adduser --quiet --disabled-password user
-
+ARG ROS_DISTRO=jazzy
+FROM ros:$ROS_DISTRO-perception-noble
 ENV DEBIAN_FRONTEND=noninteractive
-# Install OpenCV
-RUN apt-get update && \
-    apt-get install -y xauth xxd x11-xserver-utils && \
+
+# Install dependencies
+RUN apt-get update && apt-get install -y \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    xauth \
+    xxd \
+    x11-xserver-utils && \
     rm -rf /var/lib/apt/lists/*
 
-WORKDIR /home/user/virtual_camera_ws
+WORKDIR /virtual_camera_ws
 RUN mkdir src
 COPY . src/virtual_camera
 
-# colcon compilation
+# Build virtual_camera ROS 2 package
 RUN . /opt/ros/$ROS_DISTRO/setup.sh \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 
-RUN sed -i '$isource "/home/user/virtual_camera_ws/install/setup.bash"' /ros_entrypoint.sh
-
-RUN chown -R user:user /home/user/
-USER user
+RUN sed -i '$isource "/virtual_camera_ws/install/setup.bash"' /ros_entrypoint.sh
 
-ENTRYPOINT ["/ros_entrypoint.sh"]
+ENTRYPOINT ["/ros_entrypoint.sh"]

scripts/0_build_docker_image.bash scripts/1_build_docker_image.bashscripts/0_build_docker_image.bash renamed to scripts/1_build_docker_image.bash

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+xhost +local:docker
+
+docker run -it --rm \
+    --network host \
+    --name vcam_test_container \
+    -e DISPLAY=$DISPLAY \
+    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+vcam_image:jazzy bash -c \
+"ros2 launch virtual_camera showimageraw.launch.py \
+use_image_viewer:=true"
+
+xhost -local:docker