Refactor Devcontainer Dockerfile (Root User/Bind Mounts) and Restores GitHub Actions Workflows (#19)

* fix: update base image

* fix: restore image tag, ensure root user for apt install

Resolves #18

* fix: re-enable workflows and improve copy resolving #17

* fix: ensure workspace is set explicitly

* fix: rm caching from devcontainer ci action

* fix: move rosdep inside root session, remove desktop install

* ci: force rebuild

Author: cooperj

.devcontainer/Dockerfile

@@ -3,20 +3,22 @@ ARG ROS_DISTRO=humble
 
 FROM ${BASE_IMAGE} AS devcontainer
 
+ENV main_user=${USER:-root}
+
+USER root
 RUN rm -rf /var/lib/apt/lists/* \
     && apt-get update --fix-missing \
     && apt-get -y install --no-install-recommends --fix-missing \
-    ros-${ROS_DISTRO}-desktop \
-    bash-completion \
+        bash-completion \
     && rm -rf /var/lib/apt/lists/*
 
-COPY ./ /workspace/
 WORKDIR /workspace
-
 ENV ROS2_WS=/workspace
-RUN rosdep update --rosdistro ${ROS_DISTRO} &&\
-    apt-get update && \
-    rosdep install --from-paths ./src --ignore-src -r -y
+RUN --mount=type=bind,source=.,target=/workspace rosdep update --rosdistro ${ROS_DISTRO} \
+    && apt-get update \
+    && rosdep install --from-paths /workspace/src --ignore-src -r -y
+
+USER ${main_user}
 
 # Do an initial build to speed up development
 RUN /bin/bash -lc "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --continue-on-error"
@@ -26,4 +28,4 @@ FROM devcontainer AS final
 
 RUN /bin/bash -lc "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build"
 
-CMD ["/bin/bash", "-lc", "source /workspace/install/setup.bash && exec ros2 launch example example.launch.py"]
+CMD ["/bin/bash", "-lc", "source /workspace/install/setup.bash && exec ros2 launch example example.launch.py"]

.github/workflows/build-docker.yml.off .github/workflows/build-docker.yml.github/workflows/build-docker.yml.off renamed to .github/workflows/build-docker.yml

@@ -34,5 +34,3 @@ jobs:
           imageName: devcontainer/${{ steps.docker_image_name.outputs.docker_image }}
           configFile: ./.devcontainer/devcontainer.json
           push: never
-          cacheFrom: type=gha
-          cacheTo: type=gha,mode=max