From 19a1b7749ef4ada74ed5475d2dd176156b05566d Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Wed, 6 Dec 2023 13:49:37 +0100
Subject: [PATCH] Build Release & Helthcheck decrease interval

---
 Dockerfile.gazebo   | 8 +++++---
 Dockerfile.hardware | 8 +++++---
 healthcheck.cpp     | 2 +-
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/Dockerfile.gazebo b/Dockerfile.gazebo
index 3722b50..e7dd775 100644
--- a/Dockerfile.gazebo
+++ b/Dockerfile.gazebo
@@ -44,7 +44,7 @@ RUN cd src/ && \
     mv /healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/ && \
     cd .. && \
     # Build
-    colcon build && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     rm -rf build log
 
 ## =========================== Final Stage ===============================
@@ -71,8 +71,10 @@ RUN apt-get update && apt-get install -y \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
     rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
-    apt-get clean && \
+    # Save version
     echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
+    # Size optimalization
+    apt-get clean && \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
 
@@ -80,5 +82,5 @@ COPY ros_entrypoint.sh /
 COPY vulcanexus_entrypoint.sh /
 COPY healthcheck.sh /
 
-HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
+HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
     CMD ["/healthcheck.sh"]
\ No newline at end of file
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index e3a1358..8d133b7 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -75,7 +75,7 @@ COPY healthcheck.cpp src/healthcheck_pkg/src/
 
 RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
-    colcon build && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     rm -rf build log src
 
 ## =========================== ROS builder ===============================
@@ -135,8 +135,10 @@ RUN apt-get update && apt-get install -y \
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
     rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
-    apt-get clean && \
+    # Save version
     echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    apt-get clean && \
     rm -rf src && \
     rm -rf /var/lib/apt/lists/*
 
@@ -151,7 +153,7 @@ COPY ros_entrypoint.sh /
 COPY vulcanexus_entrypoint.sh /
 COPY healthcheck.sh /
 
-HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
+HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
     CMD ["/healthcheck.sh"]
 
 COPY microros_localhost_only.xml /
diff --git a/healthcheck.cpp b/healthcheck.cpp
index ff80c35..31bb431 100644
--- a/healthcheck.cpp
+++ b/healthcheck.cpp
@@ -35,7 +35,7 @@ int main(int argc, char *argv[]) {
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("healthcheck_node");
   auto sub = node->create_subscription<nav_msgs::msg::Odometry>(
-      "odometry/filtered", rclcpp::SensorDataQoS(), msg_callback);
+      "odometry/filtered", rclcpp::SensorDataQoS().keep_last(1), msg_callback);
 
   while (rclcpp::ok()) {
     rclcpp::spin_some(node);