Build Release & Helthcheck decrease interval

Dockerfile.cpu

@@ -26,7 +26,8 @@ RUN apt-get update && \
 
 # Build
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf build log src
 
 # Git action version
 RUN echo $(cat /ros2_ws/src/zed_cpu/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt

Dockerfile.desktop

@@ -190,7 +190,7 @@ RUN echo $(cat /ros2_ws/src/zed-ros2-wrapper/zed_wrapper/package.xml | grep '<ve
 COPY ./ros_entrypoint.sh /
 
 COPY ./healthcheck.sh /
-HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
+HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
     CMD ["/healthcheck.sh"]
 
 # Add Husarnet

Dockerfile.jetson

@@ -207,7 +207,7 @@ RUN echo $(cat /ros2_ws/src/zed-ros2-wrapper/zed_wrapper/package.xml | grep '<ve
 COPY ./ros_entrypoint.sh /
 
 COPY ./healthcheck.sh /
-HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
+HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
     CMD ["/healthcheck.sh"]
 
 # Add Husarnet

healthcheck.cpp

@@ -43,7 +43,7 @@ int main(int argc, char *argv[]) {
 
     std::cout << topic_name << std::endl;
     auto sub = node->create_subscription<sensor_msgs::msg::Image>(
-        topic_name, rclcpp::SensorDataQoS(), msg_callback);
+        topic_name, rclcpp::SensorDataQoS().keep_last(1), msg_callback);
 
     while (rclcpp::ok()) {
       rclcpp::spin_some(node);