From 5efd19998feb3baf60b94e282dcc14470c15b468 Mon Sep 17 00:00:00 2001
From: pabloinigoblasco <pablo@ibrobotics.com>
Date: Thu, 18 May 2023 21:07:46 +0200
Subject: [PATCH] last refinements

---
 smacc2_dev_tools/docker/Dockerfile               | 16 +++-------------
 ... => sm_panda_moveit2z_cb_inventory.launch.py} |  0
 .../sm_panda_moveit2z_cb_inventory/package.xml   | 11 ++++++++++-
 3 files changed, 13 insertions(+), 14 deletions(-)
 rename smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/launch/{demo.launch.py => sm_panda_moveit2z_cb_inventory.launch.py} (100%)

diff --git a/smacc2_dev_tools/docker/Dockerfile b/smacc2_dev_tools/docker/Dockerfile
index 222ff1dd0..c27ead10b 100644
--- a/smacc2_dev_tools/docker/Dockerfile
+++ b/smacc2_dev_tools/docker/Dockerfile
@@ -23,24 +23,14 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
 WORKDIR "/home/ros2_ws/src"
 
 RUN echo "copying current code version to docker image:"
-
-# # -------- moveit ----------
-# RUN git clone https://github.com/ros-planning/moveit2_tutorials.git -b humble src/moveit2_tutorials
-# RUN vcs import < src/moveit2_tutorials/moveit2_tutorials.repos
-
-# RUN apt-get update
-# RUN rosdep install --from-paths src --ignore-src -r -y
-RUN apt-get update && apt-get install -q -y --no-install-recommends xterm
-
+ADD . /home/ros2_ws/src/SMACC2
 WORKDIR "/home/ros2_ws"
-#ADD . /home/ros2_ws/src/SMACC2
-RUN git clone https://github.com/robosoft-ai/SMACC2.git -b humble src/SMACC2
 
 # install dependencies and build
 RUN vcs import  src --skip-existing --input src/SMACC2/.github/SMACC2-not-released.$ROS_DISTRO.repos
 RUN ls src
-RUN rosdep install --from-paths src --ignore-src -r -y
 
-RUN git clone https://github.com/ros2/ros_testing.git src/ros_testing
+RUN rosdep install --from-paths src --ignore-src -r -y
+RUN apt-get update && apt-get install -q -y --no-install-recommends xterm
 
 RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.sh && colcon build --merge-install --parallel-workers 1"
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/launch/demo.launch.py b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/launch/sm_panda_moveit2z_cb_inventory.launch.py
similarity index 100%
rename from smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/launch/demo.launch.py
rename to smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/launch/sm_panda_moveit2z_cb_inventory.launch.py
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/package.xml b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/package.xml
index f2046862b..05d4f2040 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/package.xml
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/package.xml
@@ -18,9 +18,18 @@
   <depend>controller_manager</depend>
   <depend>moveit_resources_panda_moveit_config</depend>
   <depend>robot_state_publisher</depend>
+  <depend>moveit_visual_tools</depend>
+  <depend>moveit_planners_chomp</depend>
+  <depend>pilz_industrial_motion_planner</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>moveit_simple_controller_manager</depend>
+  <depend>moveit_planners_ompl</depend>
+  <depend>moveit_plugins</depend>
+  <depend>moveit_ros_robot_interaction</depend>
+  <depend>moveit</depend>
 
-  <exec_depend>joint_trajectory_controller</exec_depend>
 
+  <exec_depend>joint_trajectory_controller</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>