Adapt to use the registry base image

- shorter build but depends on registry

.docker/build.Dockerfile

@@ -1,37 +1,21 @@
-FROM scancontrol:base AS dev 
+FROM registry.tudelft.nl/samxl/scancontrol:humble-base AS dev 
 ARG TARGET_WS
 
 SHELL ["/bin/bash", "-c"]
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Create a non-root user
-ENV ROS_USER=ros
-ARG ROS_USER_UID=1000
-ARG ROS_USER_GID=$ROS_USER_UID
-
-RUN groupadd --gid $ROS_USER_GID $ROS_USER \
-  && useradd -s /bin/bash --uid $ROS_USER_UID --gid $ROS_USER_GID -m $ROS_USER \
-  # [Optional] Add sudo support for the non-root user
-  && apt-get update \
-  && apt-get install -y sudo \
-  && echo $ROS_USER ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$ROS_USER\
-  && chmod 0440 /etc/sudoers.d/$ROS_USER \
-  # Cleanup
-  && rm -rf /var/lib/apt/lists/* 
-
 # Get build dependencies
-RUN apt-get update \
-  && apt-get install --no-install-recommends -y     build-essential     git     python3-colcon-common-extensions     python3-colcon-mixin     python3-rosdep     python3-vcstool     \
-  && rm -rf /var/lib/apt/lists/* 
+RUN sudo apt-get update \
+  && sudo apt-get install --no-install-recommends -y     build-essential     git     python3-colcon-common-extensions     python3-colcon-mixin     python3-rosdep     python3-vcstool     \
+  && sudo rm -rf /var/lib/apt/lists/* 
 
 WORKDIR $TARGET_WS 
 
 # perform a copy here so previous layers still remain in cache
 COPY . $TARGET_WS/src/scancontrol
 
-RUN chown -R ${ROS_USER}:${ROS_USER} /workspaces
-USER ${ROS_USER}
+RUN sudo chown -R ${USERNAME}:${USERNAME} $TARGET_WS
 
 # install rosdeps
 RUN sudo -E rosdep init \

.docker/docker-compose.yml

@@ -1,18 +1,9 @@
 name: scancontrol
 
 services:
-  # Root dependencies needed to build ros packages
-  scancontrol-base:
-    build: 
-      context: ${SCANCONTROL_SRC_DIR}
-      dockerfile: .docker/Dockerfile
-    image: "scancontrol:base"
-
   # Builds the ROS package
   scancontrol-build:
-    depends_on: 
-      scancontrol-base:
-        condition: service_completed_successfully  # start the ROS build only when base is done
+    container_name: scancontrol-build
     build:
       context: ${SCANCONTROL_SRC_DIR}
       dockerfile: .docker/build.Dockerfile
@@ -21,7 +12,7 @@ services:
     image: "scancontrol:build"
     working_dir: ${SCANCONTROL_TARGET_WS}
     user: ${PUID}:${PGID}
-    # command: tail -f /dev/null 
+    command: tail -f /dev/null 
 
   # Runs the Scancontrol driver node as continuous service
   scancontrol-service: