From 38a5125306fb20ebd742669fcd5acbd7355d2420 Mon Sep 17 00:00:00 2001
From: Yoshiaki WATANABE <forever.walking@gmail.com>
Date: Tue, 18 May 2021 20:42:31 +0900
Subject: [PATCH 1/2] modify Dockerfile & docker-compose.yml to use ROS melodic

---
 Dockerfile         | 3 ++-
 docker-compose.yml | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index e389c86..5fd610d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -7,7 +7,7 @@ FROM ${BASE_IMAGE}
 # (or without GPU) works through docker.
 # I was unable to use the ROS_DISTRO variable here due to this issue:
 # https://github.com/docker/for-mac/issues/2155
-COPY --from=osrf/ros:kinetic-desktop-full / /
+COPY --from=osrf/ros:melodic-desktop-full / /
 
 # Add ROS env vars to the bashrc
 ENV BASH_ENV="/root/launch.sh"
@@ -26,6 +26,7 @@ RUN apt-get update && \
         build-essential \
         # Project-specific build dependencies
         python-pip \
+        ros-${ROS_DISTRO}-moveit \
         ros-${ROS_DISTRO}-serial \
         ros-${ROS_DISTRO}-joint-state-publisher-gui && \
     rm -rf /var/lib/apt/lists/*
diff --git a/docker-compose.yml b/docker-compose.yml
index 28da39c..4ee3dea 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -12,7 +12,7 @@ x-app: &common
   build:
     context: .
     args: &common-args
-      ROS_DISTRO: "kinetic"
+      ROS_DISTRO: "melodic"
       PYMYCOBOT_VERSION: ">=2<3"
       BASE_IMAGE: nvidia/opengl:1.1-glvnd-runtime-ubuntu18.04
 

From a036806572003d8e78a64fe386416a60ae753510 Mon Sep 17 00:00:00 2001
From: Daisuke Sato <tiryoh@gmail.com>
Date: Sat, 22 May 2021 18:43:59 +0900
Subject: [PATCH 2/2] Use rosdep

---
 Dockerfile | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 5fd610d..869be7d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -16,6 +16,10 @@ ENTRYPOINT ["/bin/bash", "-c"]
 ARG ROS_DISTRO
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $BASH_ENV
 
+# Copy myCobot ROS package
+WORKDIR /catkin_ws/src
+COPY . mycobot_ros
+
 # Install build dependencies
 RUN apt-get update && \
     apt-get install -y \
@@ -24,11 +28,9 @@ RUN apt-get update && \
         python-rosinstall-generator \
         python-wstool \
         build-essential \
-        # Project-specific build dependencies
-        python-pip \
-        ros-${ROS_DISTRO}-moveit \
-        ros-${ROS_DISTRO}-serial \
-        ros-${ROS_DISTRO}-joint-state-publisher-gui && \
+        python-pip && \
+    # Project-specific build dependencies
+    rosdep install -r -y -i --from-paths . && \
     rm -rf /var/lib/apt/lists/*
 
 # Install python dependencies
@@ -36,8 +38,6 @@ ARG PYMYCOBOT_VERSION
 RUN pip install "pymycobot $PYMYCOBOT_VERSION" --user
 
 # Build the project
-WORKDIR /catkin_ws/src
-ADD . mycobot_ros
 WORKDIR /catkin_ws
 RUN catkin_make