From 212821793ab7846cb15d96562e2a659c825f87fd Mon Sep 17 00:00:00 2001
From: Matt Spencer <matthew@thespencers.me.uk>
Date: Thu, 16 Apr 2026 13:53:01 +0000
Subject: [PATCH] First run on target hardware

The robot rotated with the ros2 topic pub command in the readme
---
 CMakeLists.txt                                |  9 --------
 Dockerfile                                    | 22 ++++++++-----------
 .../my_robot/my_robot}/__init__.py            |  0
 .../my_robot}/motor_controller_node.py        |  1 +
 package.xml => src/my_robot/package.xml       |  7 ++++--
 src/my_robot/resource/my_robot                |  0
 setup.cfg => src/my_robot/setup.cfg           |  0
 setup.py => src/my_robot/setup.py             |  4 ++++
 8 files changed, 19 insertions(+), 24 deletions(-)
 delete mode 100644 CMakeLists.txt
 rename {my_robot => src/my_robot/my_robot}/__init__.py (100%)
 rename {my_robot => src/my_robot/my_robot}/motor_controller_node.py (99%)
 rename package.xml => src/my_robot/package.xml (81%)
 create mode 100644 src/my_robot/resource/my_robot
 rename setup.cfg => src/my_robot/setup.cfg (100%)
 rename setup.py => src/my_robot/setup.py (67%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 6da01b4..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(my_robot)
-
-find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_python REQUIRED)
-
-ament_python_install_package(${PROJECT_NAME})
-
-ament_package()
diff --git a/Dockerfile b/Dockerfile
index 51cbf14..b3b010b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,25 +3,18 @@
 # ── Stage 1: build ────────────────────────────────────────────────────────────
 FROM ros:kilted AS builder
 
+SHELL ["/bin/bash", "-c"]
+
 RUN apt-get update && apt-get install -y --no-install-recommends \
     python3-colcon-common-extensions \
-    python3-pip \
-    ros-${ROS_DISTRO}-ament-cmake-python \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR /ws
 
-# Install the vendored Raspbot hardware library
-COPY raspbot_v2_interface/ raspbot_v2_interface/
-# PEP 668: newer Debian/Ubuntu marks the system Python as externally managed and blocks pip
-# by default. --break-system-packages overrides this; safe here as the container is isolated.
-RUN pip3 install --no-cache-dir --break-system-packages ./raspbot_v2_interface
-
 # Copy the ROS package into the standard colcon src/ layout and build it
-COPY package.xml setup.py setup.cfg CMakeLists.txt src/my_robot/
-COPY my_robot/ src/my_robot/my_robot/
+COPY src/my_robot/ src/my_robot/
 
-RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
     colcon build --packages-select my_robot
 
 # ── Stage 2: runtime ──────────────────────────────────────────────────────────
@@ -31,10 +24,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-rclpy \
     ros-${ROS_DISTRO}-geometry-msgs \
     ros-${ROS_DISTRO}-std-msgs \
+    python3-smbus \
     && rm -rf /var/lib/apt/lists/*
 
-# Bring across the installed Raspbot library and the built ROS overlay
-COPY --from=builder /usr/local/lib /usr/local/lib
+# Install the Raspbot hardware library directly into site-packages
+COPY raspbot_v2_interface/ /usr/local/lib/python3.12/dist-packages/raspbot_v2_interface/
+
+# Bring across the built ROS overlay
 COPY --from=builder /ws/install /ws/install
 
 # Source both ROS base and the workspace overlay on every shell/exec
diff --git a/my_robot/__init__.py b/src/my_robot/my_robot/__init__.py
similarity index 100%
rename from my_robot/__init__.py
rename to src/my_robot/my_robot/__init__.py
diff --git a/my_robot/motor_controller_node.py b/src/my_robot/my_robot/motor_controller_node.py
similarity index 99%
rename from my_robot/motor_controller_node.py
rename to src/my_robot/my_robot/motor_controller_node.py
index 7d07d8a..777431a 100644
--- a/my_robot/motor_controller_node.py
+++ b/src/my_robot/my_robot/motor_controller_node.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
 from geometry_msgs.msg import Twist
diff --git a/package.xml b/src/my_robot/package.xml
similarity index 81%
rename from package.xml
rename to src/my_robot/package.xml
index 9ab40c3..e5fe654 100644
--- a/package.xml
+++ b/src/my_robot/package.xml
@@ -10,8 +10,11 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_python</buildtool_depend>
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
diff --git a/src/my_robot/resource/my_robot b/src/my_robot/resource/my_robot
new file mode 100644
index 0000000..e69de29
diff --git a/setup.cfg b/src/my_robot/setup.cfg
similarity index 100%
rename from setup.cfg
rename to src/my_robot/setup.cfg
diff --git a/setup.py b/src/my_robot/setup.py
similarity index 67%
rename from setup.py
rename to src/my_robot/setup.py
index 4a9e3d1..1934ed2 100644
--- a/setup.py
+++ b/src/my_robot/setup.py
@@ -6,6 +6,10 @@ setup(
     name=package_name,
     version='0.0.1',
     packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
     install_requires=['setuptools'],
     zip_safe=True,
     entry_points={