From 8365f0a878bde915876a91967ea3b0b532e28029 Mon Sep 17 00:00:00 2001
From: Alberto Tudela <ajtudela@gmail.com>
Date: Tue, 15 Oct 2024 09:37:07 +0200
Subject: [PATCH] Update docker

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
---
 .github/workflows/docker_image.yml |  2 +-
 Dockerfile                         |  1 -
 docker-compose.yaml                | 24 +++++++++++++++++++-----
 docker/ros_entrypoint.sh           | 20 ++++++++++++--------
 4 files changed, 32 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/docker_image.yml b/.github/workflows/docker_image.yml
index ff7687e..f5ab5dd 100644
--- a/.github/workflows/docker_image.yml
+++ b/.github/workflows/docker_image.yml
@@ -28,7 +28,7 @@ jobs:
         with:
           images: grupoavispa/scitos2
           tags: |
-            type=ref, suffix=latest, event=branch
+            type=ref, event=branch
             type=sha
 
       - name: Docker Setup Buildx
diff --git a/Dockerfile b/Dockerfile
index 5ef2f10..446b8e5 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -68,4 +68,3 @@ COPY ./docker/ros_entrypoint.sh /
 RUN chmod +x /ros_entrypoint.sh
 COPY ./docker/cyclonedds.xml /
 ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["ros2", "launch", "scitos2_mira", "mira.launch.py"]
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 5229dfb..91c1d5d 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,8 +1,9 @@
 services:
-  scitos:
-    container_name: scitos2
-    image: grupoavispa/scitos2:latest
+  # Main container
+  base:
+    image: grupoavispa/scitos2:main
     build: .
+    tty: true
     network_mode: host
     ipc: host
     pid: host
@@ -13,7 +14,20 @@ services:
     devices:
       - /dev/ttyUSB2:/dev/USB_MLCAN
     privileged: true
-    restart: unless-stopped
     volumes:
       - /opt/MIRA-licenses:/opt/MIRA-licenses
-      - /opt/SCITOS:/opt/SCITOS
\ No newline at end of file
+      - /opt/SCITOS:/opt/SCITOS
+
+  # Mira framework + drive & charger modules container
+  mira:
+    extends:
+      service: base
+    command: ros2 launch scitos2_mira mira.launch.py
+    restart: unless-stopped
+
+  # Docking server container
+  docking:
+    extends:
+      service: base
+    command: ros2 launch scitos2_charging_dock docking_server.launch.py
+    restart: unless-stopped
diff --git a/docker/ros_entrypoint.sh b/docker/ros_entrypoint.sh
index ac491f7..7d29c85 100644
--- a/docker/ros_entrypoint.sh
+++ b/docker/ros_entrypoint.sh
@@ -2,15 +2,19 @@
 set -e
 
 ######### ROS #########
-source /opt/ros/${ROS_DISTRO}/setup.bash
-source ${OVERLAY_WS}/install/local_setup.bash
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI=/cyclonedds.xml
+if [ -d /opt/ros/$ROS_DISTRO ]; then
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    source ${OVERLAY_WS}/install/local_setup.bash
+    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    export CYCLONEDDS_URI=/cyclonedds.xml
+fi
 
 ######### MIRA #########
-export MIRA_PATH=${MIRA_WS}
-export PATH=$PATH:${MIRA_WS}/bin
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MIRA_WS}/lib
-source ${MIRA_WS}/scripts/mirabash
+if [ -d $MIRA_WS/mira ]; then
+    export MIRA_PATH=${MIRA_WS}
+    export PATH=$PATH:${MIRA_WS}/bin
+    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MIRA_WS}/lib
+    source ${MIRA_WS}/scripts/mirabash
+fi
 
 exec "$@"
\ No newline at end of file