🔨 Ported latest modifications from humble_devel for better docker run…

…ning.

Signed-off-by: Bey Hao Yun <beyhy94@gmail.com>

.gitignore

@@ -2,6 +2,8 @@
 build/*
 install/*
 log/*
+.vscode/*
+lcov/*
 *.png
 *.jpeg
 

Dockerfile

@@ -1,10 +1,25 @@
 FROM ros:jazzy-perception-noble
 
-MAINTAINER Bey Hao Yun <beyhy94@gmail.com>
+# Add user
+RUN adduser --quiet --disabled-password user
 
+ENV DEBIAN_FRONTEND=noninteractive
 # Install OpenCV
 RUN apt-get update && \
     apt-get install -y xauth xxd x11-xserver-utils && \
     rm -rf /var/lib/apt/lists/*
 
-WORKDIR /home/user
+WORKDIR /home/user/virtual_camera_ws
+RUN mkdir src
+COPY . src/virtual_camera
+
+# colcon compilation
+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
+
+ENTRYPOINT ["/ros_entrypoint.sh"]

scripts/0_build_docker_image.bash

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+docker build --tag vcam_image:jazzy .

scripts/1_create_docker_container.bash

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+xhost +local:docker
+
+docker run -it --rm \
+    --net host \
+    --name vcam_test_container \
+    -e DISPLAY=$DISPLAY \
+    -v /dev/shm:/dev/shm \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -u user  \
+ vcam_image:jazzy bash -c \
+ "ros2 launch virtual_camera showimageraw.launch.py \
+ use_image_viewer:=true"
+
+xhost -local:docker