Stripped out all of the functionality till it compiles

.docker/Dockerfile

@@ -0,0 +1,106 @@
+ARG BUILD_TYPE=clone
+ARG ROS_VERSION=iron
+ARG WS_DIR=/root/arena_ws
+
+## This should work through the magic of multi-arch?
+FROM ros:${ROS_VERSION}-perception AS build_image
+
+# This should be set automatically by the build engine
+ARG TARGETPLATFORM
+ARG ARENA_SDK_URL_BASE=https://s3.us-west-1.wasabisys.com/marburg/LucidVision_SDK
+
+# Install the LucidVision SDK
+WORKDIR /tmp
+
+RUN apt-get update && apt-get install -y \
+    git \
+    python3-vcstool \
+    wget \
+    && apt autoremove -y \
+    && apt clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN if [ "${TARGETPLATFORM}" = "linux/amd64" ]; then \
+      ARENA_SDK_FILE=ArenaSDK_v0.1.68_Linux_x64.tar.bz2; \
+    elif [ "${TARGETPLATFORM}" = "linux/arm64" ]; then \
+      ARENA_SDK_FILE=ArenaSDK_v0.1.49_Linux_ARM64.tar.bz2; \
+    else \
+      echo "Unknown target platform ${TARGETPLATFORM}"; \
+      exit; \
+    fi && \
+    ARENA_SDK_URL=${ARENA_SDK_URL_BASE}/${ARENA_SDK_FILE} && \
+    echo "Downloading ${ARENA_SDK_URL}" && \
+    wget $ARENA_SDK_URL && \
+    cd /usr/local && \
+    tar -xjvf /tmp/$ARENA_SDK_FILE && \
+    rm /tmp/$ARENA_SDK_FILE
+
+ENV ARENA_ROOT=/usr/local/ArenaSDK
+# The name of the directory in the tarball changes by architecture,
+# so create a convenience symlink
+RUN ln -s /usr/local/ArenaSDK_* ${ARENA_ROOT}
+WORKDIR ${ARENA_ROOT}
+RUN sh -c "sudo sh Arena_SDK_*.conf"
+
+# Install the default ROS entrypoint
+WORKDIR /root
+COPY ros_entrypoint.sh /root/ros_entrypoint.sh
+ENTRYPOINT [ "/root/ros_entrypoint.sh" ]
+
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+#  This build path clones from github
+FROM build_image as build_clone
+
+ARG ARENA_CAMERA_ROS2_REPO=https://github.com/apl-ocean-engineering/arena_camera_ros2.git
+ARG ARENA_CAMERA_ROS2_BRANCH=main
+
+ARG WS_DIR
+ONBUILD WORKDIR ${WS_DIR}/src
+ONBUILD RUN echo "Cloning from ${ARENA_CAMERA_ROS2_BRANCH} branch ${ARENA_CAMERA_ROS2_REPO}"
+
+# This will break cache when the repo changes
+ONBUILD ADD https://api.github.com/repos/apl-ocean-engineering/arena_camera_ros2/git/refs/heads/${ARENA_CAMERA_ROS2_BRANCH} version.json
+ONBUILD RUN git clone -b ${ARENA_CAMERA_ROS2_BRANCH} ${ARENA_CAMERA_ROS2_REPO}
+
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+# This build path copies from a local tree
+#
+# I find the structure of the arena_camera_ros drive extremely annoying and
+# can see changing away from it.
+FROM build_image as build_local
+
+ARG LOCAL_SRC=local_src
+
+ARG WS_DIR
+ONBUILD WORKDIR ${WS_DIR}/src
+ONBUILD RUN echo "Pulling source code from local directory ${LOCAL_SRC}"
+ONBUILD COPY ${LOCAL_SRC}/ ${WS_DIR}/src/
+
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+# Then the two build paths re-merge here
+# dockerfile_lint - ignore
+FROM build_${BUILD_TYPE}
+LABEL Version=0.1
+LABEL Name=arena_camera_ros2
+
+WORKDIR ${WS_DIR}/src
+RUN vcs import --shallow --skip-existing < arena_camera_ros2/arena_camera_ros2.repos
+
+WORKDIR ${WS_DIR}
+
+# This is quite expensive to run on every build...
+# RUN bash -c "apt-get update \
+#               && source /opt/ros/noetic/setup.bash \
+#               && rosdep install -y --ignore-src \
+#                     --skip-keys=arena_sdk \
+#                     --from-paths src/ \
+#               && rm -rf /var/lib/apt/lists/*"
+
+RUN bash -c "/root/ros_entrypoint.sh \
+                colcon build && \
+                colcon test"
+
+# Convert ARG to ENV
+ENV ROS_WS ${WS_DIR}
+#RUN echo "ROS_WS=${ROS_WS}" > /root/.ROS_WS
+CMD ["ros", "launch", "arena_camera", "arena_camera_nodelet.launch"]

.docker/ros_entrypoint.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+#set -e
+
+ROS_VERSION=${ROS_VERSION:-iron}
+
+# if [ -f $HOME/.ROS_WS ]; then
+#     echo "Loading catkin ws from $HOME/.ROS_WS"
+#     source $HOME/.ROS_WS
+# fi
+
+# setup ros environment
+if [ "${ROS_WS}" == "" ]; then
+    echo "Loading default environment: /opt/ros/$ROS_VERSION/setup.bash"
+    source /opt/ros/$ROS_VERSION/setup.bash
+else
+    echo "Loading environment from workspace: $ROS_WS"
+    source $ROS_WS/devel/setup.bash
+fi
+
+exec "$@"

arena_camera/CMakeLists.txt

@@ -3,7 +3,6 @@ project(arena_camera)
 
 set(CMAKE_CXX_STANDARD 14)
 
-
 #
 # ARENA SDK
 #
@@ -18,11 +17,18 @@ if (NOT ${arena_sdk_FOUND})
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/Findarena_sdk.cmake")
 endif()
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  rclcpp
+  rclcpp_components
+  ament_cmake
+  camera_control_msgs
+  imaging_msgs
+)
 
-find_package(rclcpp REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
 
-find_package(camera_control_msgs REQUIRED)
-find_package(imaging_msgs REQUIRED)
 
 
 #
@@ -101,35 +107,73 @@ find_package(imaging_msgs REQUIRED)
 
 
 #  flags for all C++ targets
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-set(arena_camera_lib_name ${PROJECT_NAME})
+set(arena_camera_lib ${PROJECT_NAME})
 
-add_library( ${arena_camera_lib_name}
+add_library( ${arena_camera_lib}
+    SHARED
     src/encoding_conversions.cpp
     src/arena_camera_parameter.cpp
-    src/nodelet_base.cpp
-    src/polled_nodelet.cpp
-    src/streaming_nodelet.cpp
+    src/base_node.cpp
+    src/polled_node.cpp
+    src/streaming_node.cpp
 )
 
-target_include_directories( ${arena_camera_lib_name}
-    PRIVATE ${catkin_INCLUDE_DIRS}
+ament_target_dependencies(${arena_camera_lib} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_include_directories( ${arena_camera_lib}
     PRIVATE ${arena_sdk_INCLUDE_DIRS}
     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include
 )
 
-target_link_libraries( ${arena_camera_lib_name}
-    ${catkin_LIBRARIES}
+target_link_libraries( ${arena_camera_lib}
     ${arena_sdk_LIBRARIES}
 )
 
-ament_target_dependencies(${arena_camera_lib_name}
-    rclcpp
-    camera_control_msgs
-    imaging_msgs
+rclcpp_components_register_nodes(${arena_camera_lib} "arena_camera::ArenaCameraPolledNode")
+rclcpp_components_register_nodes(${arena_camera_lib} "arena_camera::ArenaCameraStreamingNode")
+
+## Build stand-alone executables
+foreach(Executable IN ITEMS polled_node streaming_node)
+
+  add_executable(${Executable} src/nodes/${Executable}_main.cpp)
+
+  target_include_directories( ${Executable}
+      PRIVATE ${arena_sdk_INCLUDE_DIRS}
+      PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include
+  )
+
+  target_link_libraries(${Executable} ${arena_camera_lib})
+
+endforeach()
+
+
+# Install
+install(
+  TARGETS ${arena_camera_lib}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# install(DIRECTORY
+#   include/
+#   DESTINATION include
+# )
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  # Run linters found in package.xml except those below
+#   set(ament_cmake_copyright_FOUND TRUE)
+#   set(ament_cmake_uncrustify_FOUND TRUE)
+#   set(ament_cmake_pep257_FOUND TRUE)
+#   set(ament_cmake_flake8_FOUND TRUE)
+
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 
 # #
 # # ARENA_CAMERA_NODES