From 9245dbf7ff0e136faae24733d9883b294078daac Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Fri, 31 May 2024 09:40:13 +0200
Subject: [PATCH] Bump micro-ROS Agent Jazzy

---
 .github/workflows/generate_agent_docker.yml |  4 +++-
 micro-ROS-Agent/Dockerfile                  | 16 ++++++++--------
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/generate_agent_docker.yml b/.github/workflows/generate_agent_docker.yml
index 4b68751..bf8dcbb 100644
--- a/.github/workflows/generate_agent_docker.yml
+++ b/.github/workflows/generate_agent_docker.yml
@@ -19,8 +19,10 @@ jobs:
             branch: iron
           - ros_distribution: rolling
             branch: rolling
+          - ros_distribution: jazzy
+            branch: jazzy
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ matrix.branch }}
       - name: Set up QEMU
diff --git a/micro-ROS-Agent/Dockerfile b/micro-ROS-Agent/Dockerfile
index 50a8dc6..a5f6b7b 100644
--- a/micro-ROS-Agent/Dockerfile
+++ b/micro-ROS-Agent/Dockerfile
@@ -1,18 +1,18 @@
-FROM microros/base:rolling AS micro-ros-agent-builder
+FROM ros:jazzy AS micro-ros-agent-builder
 
-WORKDIR /uros_ws
+ARG DEBIAN_FRONTEND=noninteractive
+WORKDIR /agent_ws
 RUN . /opt/ros/$ROS_DISTRO/setup.sh \
-&&  . install/local_setup.sh \
 &&  apt update \
-&&  ros2 run micro_ros_setup create_agent_ws.sh \
-&&  ros2 run micro_ros_setup build_agent.sh \
+&&  apt install -y ros-$ROS_DISTRO-micro-ros-msgs
+&&  git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ROS-Agent src/micro-ROS-Agent
 &&  rm -rf log/ build/ src/
 
 FROM ros:rolling-ros-core
 
-COPY --from=micro-ros-agent-builder /uros_ws /uros_ws
+COPY --from=micro-ros-agent-builder /agent_ws /agent_ws
 
-WORKDIR /uros_ws
+WORKDIR /agent_ws
 
 # Disable shared memory
 COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/
@@ -21,7 +21,7 @@ ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 ENV MICROROS_DISABLE_SHM=1
 
 RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
-RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc
+RUN echo ". /agent_ws/install/setup.bash" >> ~/.bashrc
 
 # setup entrypoint
 COPY ./micro-ros_entrypoint.sh /