From 63389a45d340ae599fee2094a5202cb4c53fa546 Mon Sep 17 00:00:00 2001
From: dominikn <dominik.nwk@gmail.com>
Date: Fri, 29 Dec 2023 12:11:55 +0100
Subject: [PATCH] make ros_entrypoint universal

---
 Dockerfile.hardware |  5 +++++
 ros_entrypoint.sh   | 12 +-----------
 2 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index 74443b3..778ff04 100644
--- a/Dockerfile.hardware
+++ b/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 $new_content2" /ros_entrypoint.sh
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
index 9bbfd75..bebe56c 100755
--- a/ros_entrypoint.sh
+++ b/ros_entrypoint.sh
@@ -6,18 +6,9 @@ if [[ "$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 "$USER" ]; then
     export USER=root
@@ -25,5 +16,4 @@ elif ! id "$USER" &>/dev/null; then
     useradd -ms /bin/bash "$USER"
 fi
 
-gosu $USER bash -c "ros2 run healthcheck_pkg healthcheck_node &"
 exec gosu $USER "$@"