docker build pass

Dockerfile.hardware

@@ -27,11 +27,12 @@ RUN apt-get update  && \
     rosdep update --rosdistro $ROS_DISTRO && \
     rosdep install --from-paths src -y -i --skip-keys mecanum_drive_controller && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DCMAKE_EXPORT_COMPILE_COMMANDS=On" && \
+    colcon build --cmake-args "-DCMAKE_BUILD_TYPE=$BUILD_TYPE" "-DBUILD_TESTING=OFF" && \
     # Get version
     echo $(cat /ros2_ws/src/panther_ros/panther/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
     # Size optimalization
     rm -rf build log src && \
+    export SUDO_FORCE_REMOVE=yes && \
     apt-get remove -y \
         ros-dev-tools && \
     apt-get autoremove -y && \

Dockerfile.simulation

@@ -9,7 +9,7 @@ WORKDIR /ros2_ws
 RUN apt-get update  && \
     apt-get install -y \
         ros-dev-tools && \
-    git clone -b ros2-dependencies https://github.com/husarion/panther_ros.git src/panther_ros && \
+    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
     vcs import src < src/panther_ros/panther/panther_hardware.repos && \
     vcs import src < src/panther_ros/panther/panther_simulation.repos && \
     rosdep init && \

README.md

@@ -52,7 +52,7 @@ Depending on your hardware configuration your `compose.yaml` file may differ. Fo
 To launch the simulation, from the directory containing Docker compose file run:
 
 ```bash
-  docker compose -f compose.simulation.yaml up
+docker compose -f compose.simulation.yaml up
 ```
 
 Nvidia users have to install NVIDIA Container Toolkit. Installation steps can be found [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). With NVIDIA Container Toolkit installed following Docker compose file will be needed: [compose.simulation-gpu.yaml](./demo/simulation/compose.simulation-gpu.yaml).

demo/compose.simulation.yaml

@@ -15,22 +15,20 @@ x-gpu-config:
 services:
 
   panther:
-    # image: husarion/panther-gazebo:humble-nightly
-    build:
-      context: ..
-      dockerfile: Dockerfile.simulation
+    image: husarion/panther-gazebo:humble
+    # build:
+      # context: ..
+      # dockerfile: Dockerfile.simulation
     <<:
       - *common-config
       - *cpu-config
-    # environment:
-    #   - QT_X11_NO_MITSHM=1
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: >
       ros2 launch panther_gazebo simulation.launch.py
 
   rviz:
-    image: husarion/rviz2:humble-11.2.8-20231122
+    image: husarion/rviz2:humble
     <<:
       - *common-config
       - *cpu-config

demo/compose.yaml

@@ -15,7 +15,7 @@ x-gpu-config:
 
 services:
   panther:
-    image: husarion/panther:humble-nightly
+    image: husarion/panther:humble
     # build:
     #   context: ..
     #   dockerfile: Dockerfile.hardware
@@ -52,7 +52,3 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ./panther.rviz:/root/.rviz2/default.rviz
-    environment:
-      - DISPLAY=${DISPLAY:?You need to define display env}
-      - LIBGL_ALWAYS_SOFTWARE=1
-      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}