From 5b2b4fa71575f914cc610138ffd7be4ceffe3ca9 Mon Sep 17 00:00:00 2001
From: Erik Holum <eholum@gmail.com>
Date: Tue, 22 Oct 2024 16:34:24 -0400
Subject: [PATCH] Add simulation repo to demo workspace for the nav2 demo
 (issue #201)

---
 nav2_demo/Dockerfile      | 25 ++++++++++++++++++++++---
 nav2_demo/entrypoint.sh   |  2 +-
 nav2_demo/nav2_demo.repos |  5 +++++
 3 files changed, 28 insertions(+), 4 deletions(-)
 create mode 100644 nav2_demo/nav2_demo.repos

diff --git a/nav2_demo/Dockerfile b/nav2_demo/Dockerfile
index e40b9d8..a58d9b4 100644
--- a/nav2_demo/Dockerfile
+++ b/nav2_demo/Dockerfile
@@ -40,14 +40,33 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 # Define workspace locations
 ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
-ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws
+ENV NAV2_DEMO_WS=${HOME_DIR}/nav2_demo_ws
+
+# Install LFS for simulation resources
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update -y && \
+    sudo apt-get install -y \
+      git-lfs
+
+# Grab required simulation resources
+WORKDIR ${NAV2_DEMO_WS}
+RUN mkdir -p src
+COPY nav2_demo.repos /tmp/
+RUN vcs import --input /tmp/nav2_demo.repos src/
+
+# Install them
+RUN source ${SPACEROS_DIR}/install/setup.bash && \
+    source ${NAVIGATION2_WS}/install/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+RUN rm -rf src build log
 
 # Setup mars_rover demo
 # Install map file for localization
-COPY mars_map* /home/spaceros-user/nav2_ws
+COPY --chown=${USERNAME}:${USERNAME}  mars_map* .
 
 # Install nav2 config file for mars rover demo
-COPY nav2_params.yaml /home/spaceros-user/nav2_ws
+COPY --chown=${USERNAME}:${USERNAME}  nav2_params.yaml .
 
 # Set up the entrypoint
 COPY ./entrypoint.sh /
diff --git a/nav2_demo/entrypoint.sh b/nav2_demo/entrypoint.sh
index 519eacf..9fb08c0 100755
--- a/nav2_demo/entrypoint.sh
+++ b/nav2_demo/entrypoint.sh
@@ -2,5 +2,5 @@
 set -e
 
 # Setup the Navigation2 environment
-source "/home/spaceros-user/nav2_ws/install/setup.bash"
+source "${NAV2_DEMO_WS}/install/setup.bash"
 exec "$@"
diff --git a/nav2_demo/nav2_demo.repos b/nav2_demo/nav2_demo.repos
new file mode 100644
index 0000000..7e6c053
--- /dev/null
+++ b/nav2_demo/nav2_demo.repos
@@ -0,0 +1,5 @@
+repositories:
+  simulation:
+    type: git
+    url: https://github.com/space-ros/simulation.git
+    version: ead69c448cd08484b12c252d17cbd8473c4d309e