From 1106f073e037c04f18a2c557f80612aee1255142 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Thu, 28 Dec 2023 12:55:39 -0700
Subject: [PATCH] Don't run vcs inside buildkit (#60)

---
 .gitignore                                       |  4 ++++
 moveit2/Dockerfile                               | 16 +++-------------
 moveit2/build.sh                                 |  3 +++
 .../{moveit2_tutorials.repos => moveit2.repos}   |  4 ++++
 space_robots/Dockerfile                          |  5 -----
 space_robots/build.sh                            |  3 +++
 6 files changed, 17 insertions(+), 18 deletions(-)
 rename moveit2/{moveit2_tutorials.repos => moveit2.repos} (83%)

diff --git a/.gitignore b/.gitignore
index 2699e61..63434d0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,3 +35,7 @@
 __pycache__/
 *.py[cod]
 *$py.class
+
+# vcstool workspaces
+moveit2/src
+space_robots/src
diff --git a/moveit2/Dockerfile b/moveit2/Dockerfile
index 6181fd8..811a986 100644
--- a/moveit2/Dockerfile
+++ b/moveit2/Dockerfile
@@ -81,20 +81,11 @@ RUN python3 -m pip install -U \
   pytest-rerunfailures \
   pytest
 
-# Get the MoveIt2 source code
-WORKDIR ${HOME_DIR}
-RUN sudo git clone https://github.com/ros-planning/moveit2.git -b ${ROSDISTRO} moveit2/src
-RUN cd ${MOVEIT2_DIR}/src \
-  && sudo git clone https://github.com/ros-planning/moveit2_tutorials.git -b ${ROSDISTRO}
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
-
 # Get rosinstall_generator
 RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
 # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
+WORKDIR ${HOME_DIR}
 COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
 COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
 RUN rosinstall_generator \
@@ -107,9 +98,8 @@ RUN rosinstall_generator \
 
 # Get the repositories required by MoveIt2, but not included in Space ROS
 WORKDIR ${MOVEIT2_DIR}
-RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
-RUN vcs import src < /tmp/moveit2_tutorials.repos
+RUN mkdir -p src && vcs import src < /tmp/moveit2_generated_pkgs.repos
+COPY src src
 
 # Update the ownership of the source files (had to use sudo above to work around
 # a possible inherited 'insteadof' from the host that forces use of ssh
diff --git a/moveit2/build.sh b/moveit2/build.sh
index 04cc00d..d869e05 100755
--- a/moveit2/build.sh
+++ b/moveit2/build.sh
@@ -14,6 +14,9 @@ echo ""
 echo "##### Building Space ROS/MoveIt2 Docker Image #####"
 echo ""
 
+mkdir -p src
+vcs import src < ./moveit2.repos
+
 docker build -t $ORG/$IMAGE:$TAG \
     --build-arg VCS_REF="$VCS_REF" \
     --build-arg VERSION="$VERSION" .
diff --git a/moveit2/moveit2_tutorials.repos b/moveit2/moveit2.repos
similarity index 83%
rename from moveit2/moveit2_tutorials.repos
rename to moveit2/moveit2.repos
index fa8170d..b252989 100644
--- a/moveit2/moveit2_tutorials.repos
+++ b/moveit2/moveit2.repos
@@ -15,3 +15,7 @@ repositories:
     type: git
     url: https://github.com/PickNikRobotics/rviz_visual_tools.git
     version: ros2
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2.git
+    version: humble
diff --git a/space_robots/Dockerfile b/space_robots/Dockerfile
index 84a94d7..0e02311 100644
--- a/space_robots/Dockerfile
+++ b/space_robots/Dockerfile
@@ -72,11 +72,6 @@ RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mo
 RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
 RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
 
-# Get the source for the dependencies
-# RUN vcs import src < /tmp/demo_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
-RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
-
 RUN sudo apt-get update -y \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
 && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
diff --git a/space_robots/build.sh b/space_robots/build.sh
index 94770d8..65a5115 100755
--- a/space_robots/build.sh
+++ b/space_robots/build.sh
@@ -14,6 +14,9 @@ echo ""
 echo "##### Building Space ROS Demo Docker Image #####"
 echo ""
 
+mkdir -p src
+vcs import src < demo_manual_pkgs.repos
+
 docker build -t $ORG/$IMAGE:$TAG \
     --build-arg VCS_REF="$VCS_REF" \
     --build-arg VERSION="$VERSION" .