Remove code duplication.

build.sh

@@ -1,5 +1,7 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+export BUILDKIT_PROGRESS=plain
 
-docker build --progress=plain -t ghcr.io/rosblox/${REPOSITORY_NAME}:humble .
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml build 

docker-compose.yml

@@ -0,0 +1,14 @@
+services:
+  ros-template:
+    image: ghcr.io/rosblox/ros-template:humble
+    build:
+      context: .
+      dockerfile: Dockerfile
+    restart: always
+    network_mode: "host"
+    ipc: host
+    pid: host
+    environment:
+      - UID=${HOST_UID}
+      - ROS_DOMAIN_ID
+    command: su - ros --whitelist-environment=ROS_DOMAIN_ID /run.sh

ros_entrypoint.sh

@@ -4,6 +4,6 @@ set -e
 id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} ros
 
 source /opt/ros/${ROS_DISTRO}/setup.bash
-source /colcon_ws/install/setup.bash
+source /colcon_ws/install/setup.bash || true
 
 exec "$@"

run.sh

@@ -1,10 +1,10 @@
 #!/bin/bash
 
-REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
-docker run -it --rm \
---network=host \
---ipc=host --pid=host \
---env UID=$(id -u) \
---env GID=$(id -g) \
-ghcr.io/rosblox/${REPOSITORY_NAME}:humble
+export HOST_UID=$(id -u)
+
+docker compose -f $SCRIPT_DIR/docker-compose.yml run \
+--volume $(pwd)/livox_ros_driver2:/colcon_ws/src/livox_ros_driver2 \
+--volume $(pwd)/Livox-SDK2:/Livox-SDK2 \
+ros-livox-ros-driver2 bash