Add the ARG TARGETARCH to the deploy image build

For both  devcontainer and deployable container.
Also add ability to use docker from inside the devcontainer.

.devcontainer/jazzy/Dockerfile.jazzy

@@ -2,6 +2,7 @@ FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
+ARG TARGETARCH
 
 # Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
 RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
@@ -47,13 +48,18 @@ RUN apt-get update \
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# Optional: pre-install apt dependencies resolved from rosdep on a previous run.
+# system deps from frozen rosdep manifest — no rosdep at build or startup
-COPY .devcontainer/jazzy/ /tmp/devcontainer-jazzy/
+# NOTE: There should be a check in your CI that this file is up to date.
-
+# Something like: 
-RUN apt-get update \
+#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-    && if [ -f /tmp/devcontainer-jazzy/rosdep-apt-packages.txt ]; then \
+COPY rosdep-packages.txt /tmp/rosdep-packages.txt
-    grep -Ev '^\s*($|#)' /tmp/devcontainer-jazzy/rosdep-apt-packages.txt | xargs -r apt-get install -y --no-install-recommends; \
+# The --mount=type=cache option caches the apt packages with buildkit
-    fi \
+# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
+# this enables parallel builds for different architectures without cache conflicts
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    rm -f /etc/apt/apt.conf.d/docker-clean \
+    && apt-get update \
+    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update \
@@ -61,13 +67,6 @@ RUN apt-get update \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
-# ROS 2 ament build tools
-# RUN apt-get install -y \
-#     ros-${ROS_DISTRO}-ament-cmake \
-#     ros-${ROS_DISTRO}-ament-cmake-auto \
-#     ros-${ROS_DISTRO}-ament-python \
-#     ros-${ROS_DISTRO}-ament-lint-auto \
-#     ros-${ROS_DISTRO}-ament-lint-common
 
 ENV SHELL=/bin/bash
 

.devcontainer/jazzy/devcontainer-lock.json

@@ -0,0 +1,9 @@
+{
+  "features": {
+    "ghcr.io/devcontainers/features/docker-from-docker:1": {
+      "version": "1.10.0",
+      "resolved": "ghcr.io/devcontainers/features/docker-from-docker@sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e",
+      "integrity": "sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e"
+    }
+  }
+}

.devcontainer/jazzy/devcontainer.json

@@ -10,6 +10,12 @@
         }
     },
     "workspaceFolder": "/workspaces/agv_pro_ros2",
+    "features": {
+        "ghcr.io/devcontainers/features/docker-from-docker:1": {
+            "version": "latest",
+            "moby": true
+        }
+    },
     "customizations": {
         "vscode": {
             "extensions": [

Dockerfile

@@ -2,6 +2,8 @@ FROM ros:jazzy
 
 # Create the workspace and copy all source directories into it
 WORKDIR /ros2_ws
+ARG TARGETARCH
+
 COPY src ./src/
 COPY patches ./patches/
 COPY upstream.jazzy.repos ./upstream.jazzy.repos
@@ -25,7 +27,22 @@ RUN cd ./src/upstream/livox_ros_driver2 && \
 # Apply patches to upstream
 # RUN ./patches/apply_patches.sh
 
+# system deps from frozen rosdep manifest — no rosdep at build or startup
+# NOTE: There should be a check in your CI that this file is up to date.
+# Something like: 
+#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
+COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+# The --mount=type=cache option caches the apt packages with buildkit
+# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
+# this enables parallel builds for different architectures without cache conflicts
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    rm -f /etc/apt/apt.conf.d/docker-clean \
+    && apt-get update \
+    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+    && rm -rf /var/lib/apt/lists/*
+
 # Install dependencies with rosdep
+# This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
 RUN apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \

rosdep-packages.txt

@@ -0,0 +1,73 @@
+git
+libapr1-dev libaprutil1-dev
+libboost-all-dev
+libpcap0.8-dev
+libpcl-apps1.14 libpcl-common1.14 libpcl-features1.14 libpcl-filters1.14 libpcl-io1.14 libpcl-kdtree1.14 libpcl-keypoints1.14 libpcl-ml1.14 libpcl-octree1.14 libpcl-outofcore1.14 libpcl-people1.14 libpcl-recognition1.14 libpcl-registration1.14 libpcl-sample-consensus1.14 libpcl-search1.14 libpcl-segmentation1.14 libpcl-stereo1.14 libpcl-surface1.14 libpcl-tracking1.14 libpcl-visualization1.14
+libpcl-dev
+libqt5core5t64
+libqt5gui5t64
+libqt5opengl5t64
+libqt5widgets5t64
+python3-pytest
+qtbase5-dev
+ros-jazzy-ament-cmake
+ros-jazzy-ament-cmake-auto
+ros-jazzy-ament-cmake-black
+ros-jazzy-ament-cmake-clang-format
+ros-jazzy-ament-cmake-clang-tidy
+ros-jazzy-ament-cmake-copyright
+ros-jazzy-ament-cmake-xmllint
+ros-jazzy-ament-copyright
+ros-jazzy-ament-flake8
+ros-jazzy-ament-index-cpp
+ros-jazzy-ament-lint-auto
+ros-jazzy-ament-lint-common
+ros-jazzy-ament-pep257
+ros-jazzy-asio-cmake-module
+ros-jazzy-builtin-interfaces
+ros-jazzy-cartographer-ros
+ros-jazzy-common-interfaces
+ros-jazzy-controller-manager
+ros-jazzy-diff-drive-controller
+ros-jazzy-geometry-msgs
+ros-jazzy-io-context
+ros-jazzy-joint-state-broadcaster
+ros-jazzy-joint-state-publisher
+ros-jazzy-message-filters
+ros-jazzy-nav-msgs
+ros-jazzy-nav2-bringup
+ros-jazzy-nav2-simple-commander
+ros-jazzy-orbbec-camera
+ros-jazzy-pcl-conversions
+ros-jazzy-pcl-ros
+ros-jazzy-pluginlib
+ros-jazzy-rcl-interfaces
+ros-jazzy-rclcpp
+ros-jazzy-rclcpp-components
+ros-jazzy-rclpy
+ros-jazzy-rcutils
+ros-jazzy-resource-retriever
+ros-jazzy-robot-state-publisher
+ros-jazzy-ros2-control
+ros-jazzy-rosbag2
+ros-jazzy-rosidl-default-generators
+ros-jazzy-rosidl-default-runtime
+ros-jazzy-rtabmap-demos
+ros-jazzy-rtabmap-slam
+ros-jazzy-rtabmap-sync
+ros-jazzy-rtabmap-util
+ros-jazzy-rtabmap-viz
+ros-jazzy-rviz-common
+ros-jazzy-rviz-default-plugins
+ros-jazzy-rviz-ogre-vendor
+ros-jazzy-rviz-rendering
+ros-jazzy-rviz2
+ros-jazzy-sensor-msgs
+ros-jazzy-serial-driver
+ros-jazzy-std-msgs
+ros-jazzy-teleop-twist-keyboard
+ros-jazzy-tf2
+ros-jazzy-tf2-geometry-msgs
+ros-jazzy-tf2-ros
+ros-jazzy-visualization-msgs
+ros-jazzy-xacro

scripts/freeze-rosdep.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -euo pipefail
+ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+rosdep update --rosdistro "$ROS_DISTRO" >/dev/null 2>&1 || true
+rosdep keys --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" 2>/dev/null \
+  | xargs rosdep resolve --rosdistro "$ROS_DISTRO" 2>/dev/null \
+  | awk '/^#apt/{a=1;next} /^#/{a=0} a' | sort -u > rosdep-packages.txt