From f35e1b69a7404bd47e47e6660f67e4aa89eb6ef6 Mon Sep 17 00:00:00 2001
From: dominikn <dominik.nwk@gmail.com>
Date: Tue, 2 Jan 2024 16:51:04 +0100
Subject: [PATCH] fix also gazebo dockerfile

---
 Dockerfile.gazebo        | 8 +++-----
 demo/compose.gazebo.yaml | 2 +-
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/Dockerfile.gazebo b/Dockerfile.gazebo
index 0da3f75..ef3af09 100644
--- a/Dockerfile.gazebo
+++ b/Dockerfile.gazebo
@@ -105,12 +105,10 @@ RUN apt-get update && apt-get install -y \
     rm -rf /var/lib/apt/lists/*
 
 COPY healthcheck.sh /
+COPY run_healthcheck_node.sh /
 
 HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
     CMD ["/healthcheck.sh"]
 
-RUN new_content1='source "/ros2_ws_healthcheck/install/setup.bash"' && \
-    new_content2='gosu $USER bash -c "ros2 run healthcheck_pkg healthcheck_node &"' && \
-    file=$(ls /*_entrypoint.sh | head -n 1) && \
-    sed -i "/exec/i $new_content1" $file && \
-    sed -i "/exec/i $new_content2" $file
+RUN sed -i "/# <additional-user-commands>/r /run_healthcheck_node.sh" /ros_entrypoint.sh && \
+    sed -i "/# <additional-user-commands>/d" /ros_entrypoint.sh
diff --git a/demo/compose.gazebo.yaml b/demo/compose.gazebo.yaml
index 8e67483..aa903d4 100644
--- a/demo/compose.gazebo.yaml
+++ b/demo/compose.gazebo.yaml
@@ -24,7 +24,7 @@ services:
     build:
       context: ../
       dockerfile: Dockerfile.gazebo
-    <<: [ *cpu-config]
+    <<: [ *gpu-config]
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}