fix : 修改docker image

Author: niuoruo

.github/workflows/build-CI.yaml

@@ -6,7 +6,7 @@ jobs:
   build:
     runs-on: ubuntu-20.04
     container:
-      image: ghcr.io/irobot-algorithm/sentry_navigation:latest
+      image: ghcr.io/irobot-algorithm/sentry_navigation/environment:latest
 
     steps:
     - name: Checkout code
@@ -19,5 +19,5 @@ jobs:
 
     - name: Run tests
       run: |
-        source /opt/ros/noetic/setup.sh
+        . /opt/ros/noetic/setup.sh
         catkin_test_results build

Dockerfile

@@ -1,43 +1,13 @@
-FROM ros:noetic-ros-core-focal
+FROM ghcr.io/irobot-algorithm/sentry_navigation/environment:latest
 
 # Create workspace
 RUN mkdir -p /home/nav_ws
 WORKDIR /home/nav_ws
 
 # Copy files
 ADD src /home/nav_ws/src
-ADD thirdparty /home/nav_ws/thirdparty
 ADD build.sh /home/nav_ws
 
-# Install dependencies
-RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
-RUN echo "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" > /etc/apt/sources.list.d/realsense.list
-RUN apt-get update && \
-    DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential cmake libeigen3-dev libpcl-dev libgoogle-glog-dev libudev-dev git libxrandr-dev libxi-dev libxinerama-dev libsdl2-dev libusb-1.0.0-dev && \
-    cp -rf /usr/include/eigen3/Eigen /usr/include/Eigen -R
-
-# Install thirdparty dependencies
-RUN for file in /home/nav_ws/thirdparty/*; do \
-    if [ -f "$file" ]; then \
-        case "$file" in \
-            *.tar.gz) tar -xzf "$file" -C /home/nav_ws/thirdparty ;; \
-            *.zip) unzip "$file" -d /home/nav_ws/thirdparty ;; \
-            *.tar.bz2) tar -xjf "$file" -C /home/nav_ws/thirdparty ;; \
-            *.tar.xz) tar -xJf "$file" -C /home/nav_ws/thirdparty ;; \
-        esac; \
-        rm "$file"; \
-    fi; \
-done
-RUN find /home/nav_ws/thirdparty -name "install.sh" -type f -exec bash -c 'cd "$(dirname "{}")" && chmod 777 install.sh && ./install.sh' \;
-
-# # Install ROS dependencies
-RUN apt-get install -y ros-noetic-rviz ros-noetic-cv-bridge ros-noetic-pcl-ros \
-                       ros-noetic-tf-conversions ros-noetic-eigen-conversions \
-                       ros-noetic-ddynamic-reconfigure ros-noetic-diagnostic-updater \
-                       ros-noetic-image-geometry ros-noetic-costmap-2d \
-                       ros-noetic-nav-core ros-noetic-navfn
-
-
 # Build the workspace
 RUN chmod 777 build.sh && \
     ./build.sh