Update docker scripts so that CI can run them

spaceros_gz_demos/README.md

@@ -18,19 +18,19 @@ This package is built upon the base Space ROS docker image, with a few extra ins
 
 One time setup: If you don't have Docker, install it with `sudo apt install docker.io`. You will have to add yourself to the Docker user group with `sudo usermod -aG docker $USER`, then run `newgrp docker` to avoid permission errors with Docker daemon. You will also to run `xhost +local:docker` on your first time to allow Docker to connect to gui-based application such as Gazebo and RViz. You will need to log out and log back in for these changes to take effect on your system.
 
-1. Navigate to the `spaceros_gz_demos/docker` directory.
+1. Navigate to the root `demos` directory. (You have to run the scripts from this directory, otherwise the Dockerfile won't be found -- this is needed for CI, which runs from this location.)
 
 2. Build the Docker image locally with
 
-    ```./build.sh```
+    ```./spaceros_gz_demos/docker/build.sh```
 
 3. Run the Docker container with
 
-    ```./run.sh```
+    ```./spaceros_gz_demos/docker/run.sh```
 
 4. Once you have a running container, to get another shell, run 
 
-    ```./shell.sh```
+    ```./spaceros_gz_demos/docker/shell.sh```
 
 ## Running code in the Docker container
 1. Once you are in the Docker container, run `colcon build` (you should be in the `~/spaceros/ws` directory)

spaceros_gz_demos/docker/Dockerfile

@@ -1,5 +1,6 @@
 FROM osrf/space-ros:latest
 
+# Install Gazebo Harmonic:
 # https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu
 RUN sudo apt-get update
 RUN sudo apt-get install lsb-release gnupg
@@ -8,6 +9,7 @@ RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/p
 RUN sudo apt-get update
 RUN yes | sudo apt-get install gz-harmonic
 
+# Install required packages
 RUN sudo apt-get update \
     && sudo apt-get install -y --no-install-recommends \
         bash \
@@ -17,15 +19,16 @@ RUN sudo apt-get update \
         git \
         python-is-python3 \
         python3-pip \
-        ripgrep \
         ros-humble-rviz2 \
         ros-humble-ros-gzharmonic \
     && sudo apt-get autoremove -y 
 
-    # Replace old entrypoint with current entrypoint that extends upon it
+# Replace old entrypoint with an entrypoint that extends upon it
+# This is necessary as Gazebo Harmonic has been installed as well as some new ROS packages.
 RUN sudo mv /ros_entrypoint.sh /old_entrypoint.sh
 COPY entrypoint.sh /ros_entrypoint.sh
 RUN sudo chmod +x /ros_entrypoint.sh
 
+# Set up workspace
 RUN mkdir -p /home/spaceros-user/spaceros/ws/src/spaceros_gz_demos
 WORKDIR /home/spaceros-user/spaceros/ws

spaceros_gz_demos/docker/build.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 echo "Building docker image..."
-docker build . --tag "spaceros_gz_demos"
+docker build spaceros_gz_demos/docker --tag "spaceros_gz_demos"

spaceros_gz_demos/docker/run.sh

@@ -7,5 +7,5 @@ docker run -it \
   -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID \
   -e QT_X11_NO_MITSHM=1 \
   --device /dev/dri \
-  --mount type=bind,source="$(pwd)/../spaceros_gz_demos",target=/home/spaceros-user/spaceros/ws/src/spaceros_gz_demos \
+  --mount type=bind,source="$(pwd)/spaceros_gz_demos",target=/home/spaceros-user/spaceros/ws/src/spaceros_gz_demos \
   spaceros_gz_demos:latest