From 8967fcdd86ece2cd1b605ac9b5a63dd7cd187a3d Mon Sep 17 00:00:00 2001
From: dominikn <dominik.nwk@gmail.com>
Date: Tue, 15 Nov 2022 13:35:17 +0100
Subject: [PATCH] make the agent image 4x smaller thanks to multi stage build

---
 base/Dockerfile                         |  4 ++--
 micro-ROS-Agent/Dockerfile              | 16 ++++++++++++++--
 micro-ROS-Agent/micro-ros_entrypoint.sh | 10 ++++++----
 3 files changed, 22 insertions(+), 8 deletions(-)

diff --git a/base/Dockerfile b/base/Dockerfile
index b9b4e85..f69854d 100644
--- a/base/Dockerfile
+++ b/base/Dockerfile
@@ -1,7 +1,7 @@
 FROM ros:humble
 
-RUN mkdir -p uros_ws
-WORKDIR uros_ws
+WORKDIR /uros_ws
+
 RUN git clone --depth 1 -b humble https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup \
 &&  . /opt/ros/$ROS_DISTRO/setup.sh \
 &&  apt update \
diff --git a/micro-ROS-Agent/Dockerfile b/micro-ROS-Agent/Dockerfile
index bcd9f15..07316b9 100644
--- a/micro-ROS-Agent/Dockerfile
+++ b/micro-ROS-Agent/Dockerfile
@@ -1,4 +1,4 @@
-FROM microros/base:humble
+FROM microros/base:humble AS micro-ros-agent-builder
 
 WORKDIR /uros_ws
 RUN . /opt/ros/$ROS_DISTRO/setup.sh \
@@ -8,10 +8,22 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh \
 &&  ros2 run micro_ros_setup build_agent.sh \
 &&  rm -rf log/ build/ src/
 
+FROM ros:humble-ros-core
+
+COPY --from=micro-ros-agent-builder /uros_ws /uros_ws
+
+WORKDIR /uros_ws
+
 # Disable shared memory
 COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/
 
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+ENV MICROROS_DISABLE_SHM=1
+
+RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc
+
 # setup entrypoint
 COPY ./micro-ros_entrypoint.sh /
 ENTRYPOINT ["/bin/sh", "/micro-ros_entrypoint.sh"]
-CMD ["--help"]
+CMD ["--help"]
\ No newline at end of file
diff --git a/micro-ROS-Agent/micro-ros_entrypoint.sh b/micro-ROS-Agent/micro-ros_entrypoint.sh
index f645b70..6565933 100755
--- a/micro-ROS-Agent/micro-ros_entrypoint.sh
+++ b/micro-ROS-Agent/micro-ros_entrypoint.sh
@@ -1,10 +1,12 @@
 . "/opt/ros/$ROS_DISTRO/setup.sh"
 . "/uros_ws/install/local_setup.sh"
 
-if [ "$ROS_LOCALHOST_ONLY" = "1" ] ; then
-    export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm_localhost_only.xml
-else
-    export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm.xml
+if [ "$MICROROS_DISABLE_SHM" = "1" ] ; then
+    if [ "$ROS_LOCALHOST_ONLY" = "1" ] ; then
+        export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm_localhost_only.xml
+    else
+        export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm.xml
+    fi
 fi
 
 exec ros2 run micro_ros_agent micro_ros_agent "$@"