From 3a454fd4febd1a138d34bc876bf2b1c7c99c6928 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Wed, 6 Dec 2023 13:50:43 +0100
Subject: [PATCH] Build Release & Helthcheck decrease interval

---
 Dockerfile.cpu     | 3 ++-
 Dockerfile.desktop | 2 +-
 Dockerfile.jetson  | 2 +-
 healthcheck.cpp    | 2 +-
 4 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/Dockerfile.cpu b/Dockerfile.cpu
index d81060e..ff0f561 100644
--- a/Dockerfile.cpu
+++ b/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
diff --git a/Dockerfile.desktop b/Dockerfile.desktop
index 346b98d..32f69fc 100755
--- a/Dockerfile.desktop
+++ b/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
diff --git a/Dockerfile.jetson b/Dockerfile.jetson
index 73ad2a5..6fd7f15 100644
--- a/Dockerfile.jetson
+++ b/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
diff --git a/healthcheck.cpp b/healthcheck.cpp
index 6f65c5c..60538d1 100644
--- a/healthcheck.cpp
+++ b/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);