From 7ae1dea48d5250b5734944c4962743a21d65431b Mon Sep 17 00:00:00 2001
From: IDavGal <ignacio.davila@ekumenlabs.com>
Date: Tue, 11 Jul 2023 21:02:14 -0300
Subject: [PATCH] Update Dockerfile to install stable version of webots_ros2

Signed-off-by: IDavGal <ignacio.davila@ekumenlabs.com>
---
 docker/Dockerfile      | 15 +++++++++------
 docker/entrypoint.bash |  3 +++
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 4cce71a..bf10fce 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,6 +1,7 @@
 FROM osrf/ros:humble-desktop-full
 
 ARG COLCON_WS=/colcon_ws
+ARG WEBOTS_ROS2_WS=/ros2_ws
 
 COPY noah_description ${COLCON_WS}/src/noah_description
 COPY noah_gazebo ${COLCON_WS}/src/noah_gazebo
@@ -12,22 +13,24 @@ RUN apt-get update && apt-get install -y \
     software-properties-common \
     wget
 
-RUN wget -qO- https://cyberbotics.com/Cyberbotics.asc | sudo apt-key add -
+RUN sudo wget -q https://cyberbotics.com/Cyberbotics.asc -O /etc/apt/keyrings/Cyberbotics.asc
 
-
-RUN apt-add-repository 'deb https://cyberbotics.com/debian/ binary-amd64/'
+RUN echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/Cyberbotics.asc] https://cyberbotics.com/debian binary-amd64/" | sudo tee /etc/apt/sources.list.d/Cyberbotics.list
 
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive \
     apt-get install -y \
-    webots \
-    ros-humble-webots-ros2
+    webots
+
+# Install the 2023.1.1 release of webots_ros2
+RUN git clone --recurse-submodules --branch 2023.1.1 https://github.com/cyberbotics/webots_ros2.git ${WEBOTS_ROS2_WS}/src/webots_ros2
 
 RUN apt-get update && \
     apt-get -y dist-upgrade && \
     . /opt/ros/humble/setup.sh && \
     rosdep update && \
-    rosdep install --from-paths ${COLCON_WS}/src --ignore-src -r -y && \
+    rosdep install --from-paths ${COLCON_WS}/src ${WEBOTS_ROS2_WS}/src --ignore-src -r -y && \
     colcon build --base-paths ${COLCON_WS}/src/ --build-base ${COLCON_WS}/build --install-base ${COLCON_WS}/install && \
+    colcon build --base-paths ${WEBOTS_ROS2_WS}/src/ --build-base ${WEBOTS_ROS2_WS}/build --install-base ${WEBOTS_ROS2_WS}/install && \
     rm -rf /var/lib/apt/lists/*
 
 # Env vars for the nvidia-container-runtime.
diff --git a/docker/entrypoint.bash b/docker/entrypoint.bash
index b50fd14..75a1078 100755
--- a/docker/entrypoint.bash
+++ b/docker/entrypoint.bash
@@ -4,6 +4,9 @@ set -e
 export ROS_DISTRO=humble
 export COLCON_WS=/colcon_ws
 
+echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+echo "source /ros2_ws/install/local_setup.bash" >> ~/.bashrc
+
 # setup ros2 environment
 source "/opt/ros/${ROS_DISTRO}/setup.bash" --
 # source gazebo