First run on target hardware

The robot rotated with the ros2 topic pub command in the readme

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