Update Dockerfile to use base ROS Humble image

[Woojin-Crive]

Description

This pull request updates the Dockerfile to use the base ROS Humble image and adds support for the ARM64 architecture. These changes improve compatibility across different hardware platforms and ensure a more maintainable development environment.

Summary of Changes

• Dockerfile Update:
  • Changed the base image from moveit/moveit2:humble-source to ros:humble.
  • Adjusted package installations to match dependencies required for ROS Humble.
  • Added support for the ARM64 architecture, enabling the project to run on ARM-based systems.

Motivation

Expanding support to ARM64 architecture allows the project to run on a wider range of devices, including ARM-based development boards and embedded systems.

Testing & Validation

• Local Testing:
  The updated Docker image was successfully built on both x86_64 and ARM64 architectures. All existing functionalities were verified to work correctly across different hardware platforms.

Request for Review

Please review the changes and provide any feedback or suggestions. Your input is valuable to ensure that this update integrates smoothly with the existing development workflow.

[gemini-code-assist]

Hello @Woojin-Crive, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request updates the Dockerfile to use the base ROS Humble image instead of the moveit/moveit2:humble-source image. It also adds ros-${ROS_DISTRO}-moveit to the list of packages to be installed. Additionally, it removes the sourcing of /root/ws_moveit/install/setup.bash from the build process and .bashrc. Finally, it removes the explicit container name from the docker-compose.yml file. The stated intent is to improve compatibility across different hardware platforms, including ARM64 architecture, and ensure a more maintainable development environment.

Highlights

• Base Image Update: The Dockerfile now uses ros:humble as the base image instead of moveit/moveit2:humble-source.
• Package Installation: Added ros-${ROS_DISTRO}-moveit to the list of packages installed in the Dockerfile.
• Workspace Configuration: Removed sourcing of /root/ws_moveit/install/setup.bash from the Dockerfile and .bashrc.
• Docker Compose Update: Removed the container_name from the docker-compose.yml file.

Changelog

• Dockerfile
  • Changed base image from moveit/moveit2:humble-source to ros:humble (line 2).
  • Added ros-${ROS_DISTRO}-moveit to the list of installed packages (line 12).
  • Removed sourcing of /root/ws_moveit/install/setup.bash (lines 25 and 30).
• docker-compose.yml
  • Removed the container_name entry (line 6).

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[gemini-code-assist]

Code Review

This pull request updates the Dockerfile to use the base ROS Humble image and adds support for the ARM64 architecture. The changes seem reasonable and improve compatibility across different hardware platforms. However, there are a few areas that could be improved for clarity and maintainability.

Merge Readiness

The pull request is almost ready for merging. The changes are well-structured and address the intended goal of updating the Dockerfile for ROS Humble and ARM64 support. I am unable to directly approve this pull request, and recommend that others review and approve this code before merging. There are no CRITICAL or HIGH severity issues, but addressing the MEDIUM severity issues would improve the overall quality of the code.

[robotpilot]

@Woojin-Crive You can use a ROBOTIS Docker account. I'll let you know later.
https://hub.docker.com/orgs/robotis/

[yun-goon]

Good!

[Woojin-Crive]

@Woojin-Crive You can use a ROBOTIS Docker account. I'll let you know later. https://hub.docker.com/orgs/robotis/

@robotpilot Okay! If I receive access to a ROBOTIS Docker account, I will create a Docker image, upload it to Docker Hub, and update the image reference in the docker-compose.yml file accordingly.

[sunghowoo]

LGTM