First run on target hardware

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

CMakeLists.txt

@@ -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()

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 src/my_robot/ src/my_robot/
-COPY my_robot/ src/my_robot/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
+# Install the Raspbot hardware library directly into site-packages
-COPY --from=builder /usr/local/lib /usr/local/lib
+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

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

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_python</buildtool_depend>
-  <buildtool_depend>ament_cmake_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>

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={