make ros_entrypoint universal

Dockerfile.hardware

@@ -135,3 +135,8 @@ ENV ROS_NAMESPACE=
 
 HEALTHCHECK --interval=5s --timeout=2s  --start-period=10s --retries=6 \
     CMD ["/healthcheck.sh"]
+
+RUN new_content1='source "/ros2_ws_healthcheck/install/setup.bash"' && \
+    new_content2='gosu $USER bash -c "ros2 run healthcheck_pkg healthcheck_node &"' && \
+    sed -i "/exec/i $new_content1" /ros_entrypoint.sh && \
+    sed -i "/exec/i $new_content2" /ros_entrypoint.sh

ros_entrypoint.sh

@@ -6,24 +6,14 @@ if [[ "$HUSARNET_DDS_DEBUG" == "TRUE" ]]; then
   echo "$output"
 fi
 
-# Check if XRCE_DOMAIN_ID_OVERRIDE is unset or empty
-if [ -z "$XRCE_DOMAIN_ID_OVERRIDE" ]; then
-    # If ROS_DOMAIN_ID is set and not empty, set XRCE_DOMAIN_ID_OVERRIDE to its value
-    if [ -n "$ROS_DOMAIN_ID" ]; then
-        export XRCE_DOMAIN_ID_OVERRIDE="$ROS_DOMAIN_ID"
-    fi
-fi
-
 # setup ros environment
 source "/opt/ros/$ROS_DISTRO/setup.bash"
-source "/ros2_ws/install/setup.bash"
-source "/ros2_ws_healthcheck/install/setup.bash"
+test -f "/ros2_ws/install/setup.bash" && source "/ros2_ws/install/setup.bash"
 
 if [ -z "$USER" ]; then
     export USER=root
 elif ! id "$USER" &>/dev/null; then
     useradd -ms /bin/bash "$USER"
 fi
 
-gosu $USER bash -c "ros2 run healthcheck_pkg healthcheck_node &"
 exec gosu $USER "$@"