From 6b42b3b908eb5a49dd57c28f97cd888f318fc382 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 30 Aug 2023 14:46:41 -0700
Subject: [PATCH] apt-get update before rosdep install and other minor updates
 in Dockerfile

---
 .docker/Dockerfile            | 21 ++++++++++++++-------
 .github/workflows/docker.yaml |  2 +-
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 0b66e1a..a0145f8 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -21,8 +21,8 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_VERSION}-diagnostic-updater \
     ros-${ROS_VERSION}-generate-parameter-library \
     wget \
-    && apt autoremove -y \
-    && apt clean -y \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
 RUN if [ "${TARGETPLATFORM}" = "linux/amd64" ]; then \
@@ -66,11 +66,11 @@ RUN groupadd --gid $USER_GID $USERNAME \
   && apt-get update \
   && apt-get install -y sudo \
   && apt autoremove -y \
-  && apt clean -y \
+  && apt-get clean -y \
   && rm -rf /var/lib/apt/lists/* \
   && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
   && echo "Defaults:$USERNAME env_keep += \"http_proxy https_proxy ftp_proxy all_proxy no_proxy\"" > /etc/sudoers.d/proxy \
-  && chmod 0440 /etc/sudoers.d/$USERNAME
+  && chmod 0440 /etc/sudoers.d/$USERNAME /etc/sudoers.d/proxy
 
 ## ~~ Switch to non-root user ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 USER $USERNAME
@@ -113,12 +113,19 @@ RUN vcs import --shallow --skip-existing < arena_camera_ros2/arena_camera_ros2.r
 WORKDIR ${WS_DIR}
 
 RUN rosdep update --rosdistro=${ROS_VERSION}
+
 # This is quite expensive to run on every build...
-RUN ~/ros2_entrypoint.sh \
-       rosdep install -y --ignore-src \
+# n.b. this must be run through sudo, not with USER root,
+# because "rosdep install" runs as the user
+RUN sudo apt-get update \
+    && ~/ros2_entrypoint.sh \
+    && rosdep install -y --ignore-src \
                     --rosdistro=${ROS_VERSION} \
                     --skip-keys=arena_sdk \
-                    --from-paths src/
+                    --from-paths src/\
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 RUN ~/ros2_entrypoint.sh \
                 colcon build && \
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index 4d0eb68..1b5349f 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -1,7 +1,7 @@
 name: Build Docker Images
 
 # There's room for a more sophisticated Docker-image-building apparatus here
-# built around the different ROS2 version branches
+# which accommodates the different ROS2 versions using branches.
 # But it hurts my head.
 on:
   push: