From a424eab1f5905ce5dd3cb28c83a483e24087abff Mon Sep 17 00:00:00 2001
From: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Thu, 25 Apr 2024 08:04:41 +0200
Subject: [PATCH 1/5] refactor: remove deprecated Dockerfiles (#99)

---
 build-local.sh                    | 52 -----------------
 ros2_control_libraries/Dockerfile | 45 ---------------
 ros2_control_libraries/build.sh   | 70 -----------------------
 ros2_modulo_control/Dockerfile    | 17 ------
 ros2_modulo_control/build.sh      | 60 --------------------
 ros_control_libraries/Dockerfile  | 35 ------------
 ros_control_libraries/build.sh    | 60 --------------------
 ros_ws/.gitignore                 |  1 -
 ros_ws/Dockerfile                 | 92 -------------------------------
 ros_ws/build.sh                   | 46 ----------------
 10 files changed, 478 deletions(-)
 delete mode 100755 build-local.sh
 delete mode 100644 ros2_control_libraries/Dockerfile
 delete mode 100755 ros2_control_libraries/build.sh
 delete mode 100644 ros2_modulo_control/Dockerfile
 delete mode 100755 ros2_modulo_control/build.sh
 delete mode 100644 ros_control_libraries/Dockerfile
 delete mode 100755 ros_control_libraries/build.sh
 delete mode 100644 ros_ws/.gitignore
 delete mode 100644 ros_ws/Dockerfile
 delete mode 100755 ros_ws/build.sh

diff --git a/build-local.sh b/build-local.sh
deleted file mode 100755
index 691ef31..0000000
--- a/build-local.sh
+++ /dev/null
@@ -1,52 +0,0 @@
-#!/bin/bash
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
-CURRENT_DIR="$(pwd)"
-
-BASE_TAG=humble
-OUTPUT_TAG=humble-devel
-CL_BRANCH=develop
-MODULO_BRANCH=develop
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  --output-tag)
-    OUTPUT_TAG=$2
-    shift 2
-    ;;
-  --cl-branch)
-    CL_BRANCH=$2
-    shift 2
-    ;;
-  --modulo-branch)
-    MODULO_BRANCH=$2
-    shift 2
-    ;;
-  -*)
-    BUILD_FLAGS+=($1)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-cd "${SCRIPT_DIR}"/ros2_ws && bash ./build.sh --base-tag "${BASE_TAG}" "${BUILD_FLAGS[@]}" || exit 1
-
-cd "${SCRIPT_DIR}"/ros2_control && bash ./build.sh --local-base \
-  --base-tag "${BASE_TAG}" --output-tag "${BASE_TAG}" "${BUILD_FLAGS[@]}" || exit 1
-
-cd "${SCRIPT_DIR}"/ros2_control_libraries && bash ./build.sh --local-base --cl-branch "${CL_BRANCH}" \
-  --base-tag "${BASE_TAG}" --output-tag "${OUTPUT_TAG}" "${BUILD_FLAGS[@]}" || exit 1
-
-cd "${SCRIPT_DIR}"/ros2_modulo_control && bash ./build.sh --local-base --modulo-branch "${MODULO_BRANCH}" \
-  --base-tag "${OUTPUT_TAG}" --output-tag "${OUTPUT_TAG}" "${BUILD_FLAGS[@]}" || exit 1
-
-cd "${CURRENT_DIR}"
diff --git a/ros2_control_libraries/Dockerfile b/ros2_control_libraries/Dockerfile
deleted file mode 100644
index 6a69dc3..0000000
--- a/ros2_control_libraries/Dockerfile
+++ /dev/null
@@ -1,45 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-control
-ARG BASE_TAG=humble
-ARG UBUNTU_VERSION=jammy-jellyfish
-FROM ${BASE_IMAGE}:${BASE_TAG} as jammy-jellyfish
-
-# install development dependencies and copy licenses
-COPY --from=ghcr.io/aica-technology/control-libraries/development-dependencies:22.04 /usr/local /tmp/local
-RUN sudo cp -R /tmp/local/* /usr/local && sudo rm -r /tmp/local
-COPY --from=ghcr.io/aica-technology/control-libraries/development-dependencies:22.04 \
-  /usr/share/doc/control-libraries/licenses /usr/share/doc/control-libraries/licenses
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as focal-fossa
-
-# install development dependencies and copy licenses
-COPY --from=ghcr.io/aica-technology/control-libraries/development-dependencies:20.04 /usr/local /tmp/local
-RUN sudo cp -R /tmp/local/* /usr/local && sudo rm -r /tmp/local
-COPY --from=ghcr.io/aica-technology/control-libraries/development-dependencies:20.04 \
-  /usr/share/doc/control-libraries/licenses /usr/share/doc/control-libraries/licenses
-
-
-FROM ${UBUNTU_VERSION} as control-libraries-build
-WORKDIR /tmp
-
-RUN sudo ldconfig
-
-ARG CL_BRANCH=main
-RUN git clone -b ${CL_BRANCH} --depth 1 https://github.com/aica-technology/control-libraries.git
-
-# install source
-RUN sudo ./control-libraries/source/install.sh -y
-
-# install protocol
-RUN sudo ./control-libraries/protocol/install.sh -y
-
-# install python bindings
-RUN sudo pip3 install ./control-libraries/python
-
-# clean image
-RUN sudo rm -rf /tmp/* && sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-RUN sudo rm -rf /usr/include/eigen3
-COPY --from=control-libraries-build /usr/ /usr/
-RUN sudo ldconfig
\ No newline at end of file
diff --git a/ros2_control_libraries/build.sh b/ros2_control_libraries/build.sh
deleted file mode 100755
index c4390ec..0000000
--- a/ros2_control_libraries/build.sh
+++ /dev/null
@@ -1,70 +0,0 @@
-#!/bin/bash
-
-IMAGE_NAME=aica-technology/ros2-control-libraries
-
-LOCAL_BASE_IMAGE=false
-BASE_IMAGE=ghcr.io/aica-technology/ros2-control
-BASE_TAG=humble
-OUTPUT_TAG=""
-CL_BRANCH=main
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --local-base)
-    LOCAL_BASE_IMAGE=true
-    shift 1
-    ;;
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  --cl-branch)
-    CL_BRANCH=$2
-    shift 2
-    ;;
-  --output-tag)
-    OUTPUT_TAG=$2
-    shift 2
-    ;;
-  -r | --rebuild)
-    BUILD_FLAGS+=(--no-cache)
-    shift 1
-    ;;
-  -v | --verbose)
-    BUILD_FLAGS+=(--progress=plain)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-if [ -z "${OUTPUT_TAG}" ]; then
-  echo "Output tag is empty, using the base tag as output tag."
-  OUTPUT_TAG="${BASE_TAG}"
-fi
-
-if [ "${LOCAL_BASE_IMAGE}" == true ]; then
-  BUILD_FLAGS+=(--build-arg BASE_IMAGE=aica-technology/ros2-control)
-else
-  docker pull "${BASE_IMAGE}:${BASE_TAG}"
-fi
-
-if [[ "${BASE_TAG}" == *"galactic"* ]]; then
-  UBUNTU_VERSION=focal-fossa
-elif [[ "${BASE_TAG}" == *"humble"* || "${BASE_TAG}" == *"iron"* ]]; then
-  UBUNTU_VERSION=jammy-jellyfish
-else
-  echo "Invalid base tag. Base tag needs to contain either 'galactic', 'humble' or 'iron'."
-  exit 1
-fi
-
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-BUILD_FLAGS+=(--build-arg UBUNTU_VERSION="${UBUNTU_VERSION}")
-BUILD_FLAGS+=(--build-arg CL_BRANCH="${CL_BRANCH}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${OUTPUT_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .
diff --git a/ros2_modulo_control/Dockerfile b/ros2_modulo_control/Dockerfile
deleted file mode 100644
index 2c80935..0000000
--- a/ros2_modulo_control/Dockerfile
+++ /dev/null
@@ -1,17 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-control-libraries
-ARG BASE_TAG=humble
-FROM ${BASE_IMAGE}:${BASE_TAG} as modulo-build
-
-ARG MODULO_BRANCH=main
-WORKDIR /tmp
-RUN git clone -b ${MODULO_BRANCH} --depth 1 https://github.com/aica-technology/modulo.git
-
-# copy sources and build ROS workspace with user permissions
-RUN cp -r /tmp/modulo/source ${ROS2_WORKSPACE}/src/modulo
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN sudo rm -rf /tmp/* ./src
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=modulo-build ${ROS2_WORKSPACE} ${ROS2_WORKSPACE}
\ No newline at end of file
diff --git a/ros2_modulo_control/build.sh b/ros2_modulo_control/build.sh
deleted file mode 100755
index db3e95f..0000000
--- a/ros2_modulo_control/build.sh
+++ /dev/null
@@ -1,60 +0,0 @@
-#!/bin/bash
-
-IMAGE_NAME=aica-technology/ros2-modulo-control
-
-LOCAL_BASE_IMAGE=false
-BASE_IMAGE=ghcr.io/aica-technology/ros2-control-libraries
-BASE_TAG=humble
-OUTPUT_TAG=""
-MODULO_BRANCH=main
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --local-base)
-    LOCAL_BASE_IMAGE=true
-    shift 1
-    ;;
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  --modulo-branch)
-    MODULO_BRANCH=$2
-    shift 2
-    ;;
-  --output-tag)
-    OUTPUT_TAG=$2
-    shift 2
-    ;;
-  -r | --rebuild)
-    BUILD_FLAGS+=(--no-cache)
-    shift 1
-    ;;
-  -v | --verbose)
-    BUILD_FLAGS+=(--progress=plain)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-if [ -z "${OUTPUT_TAG}" ]; then
-  echo "Output tag is empty, using the base tag as output tag."
-  OUTPUT_TAG="${BASE_TAG}"
-fi
-
-if [ "${LOCAL_BASE_IMAGE}" = true ]; then
-  BUILD_FLAGS+=(--build-arg BASE_IMAGE=aica-technology/ros2-control-libraries)
-else
-  docker pull "${BASE_IMAGE}:${BASE_TAG}"
-fi
-
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-BUILD_FLAGS+=(--build-arg MODULO_BRANCH="${MODULO_BRANCH}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${OUTPUT_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .
diff --git a/ros_control_libraries/Dockerfile b/ros_control_libraries/Dockerfile
deleted file mode 100644
index 50ee4b6..0000000
--- a/ros_control_libraries/Dockerfile
+++ /dev/null
@@ -1,35 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros-ws
-ARG BASE_TAG=noetic
-FROM ${BASE_IMAGE}:${BASE_TAG} as focal-fossa
-
-# install development dependencies and copy licenses
-COPY --from=ghcr.io/aica-technology/control-libraries/development-dependencies:20.04 /usr/local /tmp/local
-RUN sudo cp -R /tmp/local/* /usr/local && sudo rm -r /tmp/local
-COPY --from=ghcr.io/aica-technology/control-libraries/development-dependencies:20.04 \
-  /usr/share/doc/control-libraries/licenses /usr/share/doc/control-libraries/licenses
-
-
-FROM focal-fossa as control-libraries-build
-WORKDIR ${HOME}
-
-RUN sudo ldconfig
-
-ARG CL_BRANCH=main
-RUN git clone -b ${CL_BRANCH} --depth 1 https://github.com/aica-technology/control-libraries.git
-
-# install source
-RUN sudo ./control-libraries/source/install.sh -y
-
-# install protocol
-RUN sudo ./control-libraries/protocol/install.sh -y
-
-# install python bindings
-RUN sudo pip3 install ./control-libraries/python
-
-# clean image
-RUN sudo rm -rf ./control-libraries && sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-RUN sudo rm -rf /usr/include/eigen3
-COPY --from=control-libraries-build /usr/ /usr/
-RUN sudo ldconfig
\ No newline at end of file
diff --git a/ros_control_libraries/build.sh b/ros_control_libraries/build.sh
deleted file mode 100755
index 0877951..0000000
--- a/ros_control_libraries/build.sh
+++ /dev/null
@@ -1,60 +0,0 @@
-#!/bin/bash
-
-IMAGE_NAME=aica-technology/ros-control-libraries
-
-LOCAL_BASE_IMAGE=false
-BASE_IMAGE=ghcr.io/aica-technology/ros-ws
-BASE_TAG=noetic
-OUTPUT_TAG=""
-CL_BRANCH=main
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --local-base)
-    LOCAL_BASE_IMAGE=true
-    shift 1
-    ;;
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  --cl-branch)
-    CL_BRANCH=$2
-    shift 2
-    ;;
-  --output-tag)
-    OUTPUT_TAG=$2
-    shift 2
-    ;;
-  -r | --rebuild)
-    BUILD_FLAGS+=(--no-cache)
-    shift 1
-    ;;
-  -v | --verbose)
-    BUILD_FLAGS+=(--progress=plain)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-if [ -z "${OUTPUT_TAG}" ]; then
-  echo "Output tag is empty, using the base tag as output tag."
-  OUTPUT_TAG="${BASE_TAG}"
-fi
-
-if [ "${LOCAL_BASE_IMAGE}" == true ]; then
-  BUILD_FLAGS+=(--build-arg BASE_IMAGE=aica-technology/ros-ws)
-else
-  docker pull "${BASE_IMAGE}:${BASE_TAG}"
-fi
-
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-BUILD_FLAGS+=(--build-arg CL_BRANCH="${CL_BRANCH}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${OUTPUT_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .
diff --git a/ros_ws/.gitignore b/ros_ws/.gitignore
deleted file mode 100644
index 04204c7..0000000
--- a/ros_ws/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-config
diff --git a/ros_ws/Dockerfile b/ros_ws/Dockerfile
deleted file mode 100644
index d3b9cfd..0000000
--- a/ros_ws/Dockerfile
+++ /dev/null
@@ -1,92 +0,0 @@
-ARG BASE_TAG=noetic
-FROM ros:${BASE_TAG} as environment-variables
-ENV DEBIAN_FRONTEND=noninteractive
-ENV PIP_NO_CACHE_DIR 1
-ENV USER ros
-ENV HOME /home/${USER}
-ENV ROS_WORKSPACE /home/${USER}/ros_ws
-ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
-
-
-FROM environment-variables as base-dependencies
-
-# disable suggested and recommended install
-RUN apt-config dump | grep -we Recommends -e Suggests | sed s/1/0/ \
-  | sudo tee /etc/apt/apt.conf.d/999norecommend
-
-# install base dependencies
-RUN apt-get update && apt-get install --no-install-recommends -y \
-  curl \
-  featherpad \
-  gdb \
-  git \
-  iputils-ping \
-  libeigen3-dev \
-  libtool \
-  mesa-utils \
-  nano \
-  python3-pip \
-  python3-rosinstall-generator \
-  ros-${ROS_DISTRO}-xacro \
-  ros-${ROS_DISTRO}-robot-state-publisher \
-  ros-${ROS_DISTRO}-rviz \
-  rsync \
-  software-properties-common \
-  ssh \
-  unzip \
-  wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN echo "Set disable_coredump false" >> /etc/sudo.conf
-
-# configure sshd server settings
-RUN ( \
-    echo 'LogLevel DEBUG2'; \
-    echo 'PubkeyAuthentication yes'; \
-    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
-  ) > /etc/ssh/sshd_config_development \
-  && mkdir /run/sshd
-
-
-FROM base-dependencies as base-workspace
-ENV USER ros
-ENV HOME /home/${USER}
-ENV ROS_WORKSPACE /home/${USER}/ros_ws
-
-# create and configure a new user
-ARG UID=1000
-ARG GID=1000
-RUN addgroup --gid ${GID} ${USER}
-RUN adduser --gecos "ROS User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
-RUN usermod -a -G dialout ${USER}
-RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
-RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
-
-# configure sshd entrypoint to authorise the new user for ssh access and
-# optionally update UID and GID when invoking the container with the entrypoint script
-COPY ./config/sshd_entrypoint.sh /sshd_entrypoint.sh
-RUN chmod 744 /sshd_entrypoint.sh
-
-# build ROS workspace
-USER ${USER}
-RUN mkdir -p ${ROS_WORKSPACE}/src
-WORKDIR ${ROS_WORKSPACE}
-RUN rosdep update
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
-
-# create the credentials to be able to pull private repos using ssh
-USER root
-RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
-
-# prepend the environment sourcing to bashrc (appending will fail for non-interactive sessions)
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash; \
-source ${ROS_WORKSPACE}/devel/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
-RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
-
-
-FROM environment-variables as final
-COPY --from=base-workspace / /
-
-# start as ROS user
-USER ${USER}
-WORKDIR ${ROS_WORKSPACE}
diff --git a/ros_ws/build.sh b/ros_ws/build.sh
deleted file mode 100755
index f91ba5c..0000000
--- a/ros_ws/build.sh
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/bin/bash
-
-IMAGE_NAME=aica-technology/ros-ws
-BASE_TAG=noetic
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
-if [[ ! -f "${SCRIPT_DIR}"/config/sshd_entrypoint.sh ]]; then
-  mkdir -p "${SCRIPT_DIR}"/config
-  cp "$(dirname "${SCRIPT_DIR}")"/common/sshd_entrypoint.sh "${SCRIPT_DIR}"/config/ || exit 1
-fi
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  -r | --rebuild)
-    BUILD_FLAGS+=(--no-cache)
-    shift 1
-    ;;
-  -v | --verbose)
-    BUILD_FLAGS+=(--progress=plain)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-docker pull "ros:${BASE_TAG}"
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  USER_ID="$(id -u "${USER}")"
-  GROUP_ID="$(id -g "${USER}")"
-  BUILD_FLAGS+=(--build-arg UID="${USER_ID}")
-  BUILD_FLAGS+=(--build-arg GID="${GROUP_ID}")
-fi
-
-BUILD_FLAGS+=(-t "${IMAGE_NAME}":"${BASE_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .

From 5c6d2bffda1428a65f002180f7182934923f1d0a Mon Sep 17 00:00:00 2001
From: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Fri, 26 Apr 2024 07:46:58 +0200
Subject: [PATCH 2/5] refactor: merge ros2-control image into ros2-ws (#100)

---
 ros2_control/Dockerfile.galactic | 25 ------------
 ros2_control/Dockerfile.humble   | 26 -------------
 ros2_control/Dockerfile.iron     | 38 -------------------
 ros2_control/build.sh            | 65 --------------------------------
 ros2_ws/Dockerfile               | 38 +++++++++++++++++--
 ros2_ws/build.sh                 | 19 ++--------
 6 files changed, 39 insertions(+), 172 deletions(-)
 delete mode 100644 ros2_control/Dockerfile.galactic
 delete mode 100644 ros2_control/Dockerfile.humble
 delete mode 100644 ros2_control/Dockerfile.iron
 delete mode 100755 ros2_control/build.sh

diff --git a/ros2_control/Dockerfile.galactic b/ros2_control/Dockerfile.galactic
deleted file mode 100644
index fdfc26b..0000000
--- a/ros2_control/Dockerfile.galactic
+++ /dev/null
@@ -1,25 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-ARG BASE_TAG=humble
-FROM ${BASE_IMAGE}:${BASE_TAG} as ros2-control-build
-
-RUN mkdir -p ${ROS2_WORKSPACE}/src/ros2_control
-WORKDIR ${ROS2_WORKSPACE}/src/ros2_control
-
-RUN git clone -b 1.0.0 --depth 1 https://github.com/ros-controls/ros2_control.git
-RUN git clone -b 1.0.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
-
-# get additional interface dependencies manually
-RUN git clone -b galactic-devel --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b ros2-master --depth 1 https://github.com/ros-controls/control_toolbox.git
-RUN git clone -b 2.1.1 --depth 1 https://github.com/ros-controls/realtime_tools.git
-RUN git clone -b galactic --depth 1 https://github.com/ros2/rcl_interfaces.git
-RUN git clone -b galactic --depth 1 https://github.com/ros2/test_interface_files.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros/angles.git
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN rm -rf ./src
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=ros2-control-build ${ROS2_WORKSPACE} ${ROS2_WORKSPACE}
diff --git a/ros2_control/Dockerfile.humble b/ros2_control/Dockerfile.humble
deleted file mode 100644
index c7ffc14..0000000
--- a/ros2_control/Dockerfile.humble
+++ /dev/null
@@ -1,26 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-ARG BASE_TAG=humble
-FROM ${BASE_IMAGE}:${BASE_TAG} as ros2-control-build
-
-RUN mkdir -p ${ROS2_WORKSPACE}/src/ros2_control
-WORKDIR ${ROS2_WORKSPACE}/src/ros2_control
-
-RUN git clone -b 2.11.0 --depth 1 https://github.com/ros-controls/ros2_control.git
-RUN git clone -b 2.11.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
-
-# get additional interface dependencies manually
-RUN git clone -b humble --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b 3.1.0 --depth 1 https://github.com/ros-controls/control_toolbox.git
-RUN git clone -b 2.2.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
-RUN git clone -b humble --depth 1 https://github.com/ros2/rcl_interfaces.git
-RUN git clone -b humble --depth 1 https://github.com/ros2/test_interface_files.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros/angles.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros-drivers/ackermann_msgs.git
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN rm -rf ./src
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=ros2-control-build ${ROS2_WORKSPACE} ${ROS2_WORKSPACE}
diff --git a/ros2_control/Dockerfile.iron b/ros2_control/Dockerfile.iron
deleted file mode 100644
index 329e68b..0000000
--- a/ros2_control/Dockerfile.iron
+++ /dev/null
@@ -1,38 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-ARG BASE_TAG=iron
-FROM ${BASE_IMAGE}:${BASE_TAG} as ros2-control-build
-
-RUN sudo apt-get update && sudo apt-get install --no-install-recommends -y \
-  doxygen \
-  librange-v3-dev \
-  python3-jinja2 \
-  python3-typeguard \
-  && sudo rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p ${ROS2_WORKSPACE}/src/ros2_control
-WORKDIR ${ROS2_WORKSPACE}/src/ros2_control
-
-RUN git clone -b 3.18.0 --depth 1 https://github.com/ros-controls/ros2_control.git
-RUN git clone -b 3.14.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
-# get additional interface dependencies manually
-RUN git clone -b 5.0.0 --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b 1.0.2 --depth 1 https://github.com/pal-robotics/backward_ros.git
-RUN git clone -b 3.1.2 --depth 1 https://github.com/ros/diagnostics.git
-RUN git clone -b 2.5.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
-RUN git clone -b 1.7.0 --depth 1 https://github.com/ros2/rcl_interfaces.git
-RUN git clone -b 0.11.0 --depth 1 https://github.com/ros2/test_interface_files.git
-RUN git clone -b 1.16.0 --depth 1 https://github.com/ros/angles.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros-drivers/ackermann_msgs.git
-RUN git clone -b 0.3.3 --depth 1 https://github.com/PickNikRobotics/generate_parameter_library.git
-RUN git clone -b 0.2.2 --depth 1 https://github.com/PickNikRobotics/RSL.git
-RUN git clone -b 1.0.2 --depth 1 https://github.com/PickNikRobotics/cpp_polyfills.git
-RUN git clone -b 3.1.0 --depth 1 https://github.com/ros-controls/control_toolbox.git
-RUN git clone -b 0.1.0 --depth 1 https://github.com/ros-controls/kinematics_interface.git
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN rm -rf ./src
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=ros2-control-build / /
diff --git a/ros2_control/build.sh b/ros2_control/build.sh
deleted file mode 100755
index 8c80bac..0000000
--- a/ros2_control/build.sh
+++ /dev/null
@@ -1,65 +0,0 @@
-#!/bin/bash
-
-IMAGE_NAME=aica-technology/ros2-control
-
-LOCAL_BASE_IMAGE=false
-BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-BASE_TAG=humble
-OUTPUT_TAG=""
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --local-base)
-    LOCAL_BASE_IMAGE=true
-    shift 1
-    ;;
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  --output-tag)
-    OUTPUT_TAG=$2
-    shift 2
-    ;;
-  -r | --rebuild)
-    BUILD_FLAGS+=(--no-cache)
-    shift 1
-    ;;
-  -v | --verbose)
-    BUILD_FLAGS+=(--progress=plain)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-if [ -z "${OUTPUT_TAG}" ]; then
-  echo "Output tag is empty, using the base tag as output tag."
-  OUTPUT_TAG="${BASE_TAG}"
-fi
-
-if [ "${LOCAL_BASE_IMAGE}" = true ]; then
-  BUILD_FLAGS+=(--build-arg BASE_IMAGE=aica-technology/ros2-ws)
-else
-  docker pull "${BASE_IMAGE}:${BASE_TAG}"
-fi
-
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${OUTPUT_TAG}")
-
-if [[ "${BASE_TAG}" == *"galactic"* ]]; then
-  DOCKERFILE=Dockerfile.galactic
-elif [[ "${BASE_TAG}" == *"humble"* ]]; then
-  DOCKERFILE=Dockerfile.humble
-elif [[ "${BASE_TAG}" == *"iron"* ]]; then
-  DOCKERFILE=Dockerfile.iron
-else
-  echo "Invalid base tag. Base tag needs to contain either 'galactic', 'humble' or 'iron'."
-  exit 1
-fi
-
-DOCKER_BUILDKIT=1 docker build -f "${DOCKERFILE}" "${BUILD_FLAGS[@]}" .
diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile
index a1bd983..efc3325 100644
--- a/ros2_ws/Dockerfile
+++ b/ros2_ws/Dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_TAG=humble
+ARG BASE_TAG=iron
 FROM ros:${BASE_TAG} as environment-variables
 ENV DEBIAN_FRONTEND=noninteractive
 ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
@@ -99,10 +99,42 @@ USER root
 RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
 
+FROM base-workspace as ros2-control-iron
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  doxygen \
+  librange-v3-dev \
+  python3-jinja2 \
+  python3-typeguard \
+  && rm -rf /var/lib/apt/lists/*
+
+WORKDIR ${ROS2_WORKSPACE}/src
+
+RUN git clone -b 3.18.0 --depth 1 https://github.com/ros-controls/ros2_control.git
+RUN git clone -b 3.14.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
+# get additional interface dependencies manually
+RUN git clone -b 5.0.0 --depth 1 https://github.com/ros-controls/control_msgs.git
+RUN git clone -b 1.0.2 --depth 1 https://github.com/pal-robotics/backward_ros.git
+RUN git clone -b 3.1.2 --depth 1 https://github.com/ros/diagnostics.git
+RUN git clone -b 2.5.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
+RUN git clone -b 1.7.0 --depth 1 https://github.com/ros2/rcl_interfaces.git
+RUN git clone -b 0.11.0 --depth 1 https://github.com/ros2/test_interface_files.git
+RUN git clone -b 1.16.0 --depth 1 https://github.com/ros/angles.git
+RUN git clone -b ros2 --depth 1 https://github.com/ros-drivers/ackermann_msgs.git
+RUN git clone -b 0.3.3 --depth 1 https://github.com/PickNikRobotics/generate_parameter_library.git
+RUN git clone -b 0.2.2 --depth 1 https://github.com/PickNikRobotics/RSL.git
+RUN git clone -b 1.0.2 --depth 1 https://github.com/PickNikRobotics/cpp_polyfills.git
+RUN git clone -b 3.1.0 --depth 1 https://github.com/ros-controls/control_toolbox.git
+RUN git clone -b 0.1.0 --depth 1 https://github.com/ros-controls/kinematics_interface.git
+
+WORKDIR ${ROS2_WORKSPACE}
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
+RUN rm -rf ./src
+
+FROM ros2-control-${BASE_TAG} as ros2-control
 
 FROM environment-variables as final
-COPY --from=base-workspace / /
+COPY --from=ros2-control / /
 
 # start as ROS user
 USER ${USER}
-WORKDIR ${ROS2_WORKSPACE}
diff --git a/ros2_ws/build.sh b/ros2_ws/build.sh
index 09b599a..7a8ac01 100755
--- a/ros2_ws/build.sh
+++ b/ros2_ws/build.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
-IMAGE_NAME=aica-technology/ros2-ws
-BASE_TAG=humble
+IMAGE_NAME=gchr.io/aica-technology/ros2-ws
+BASE_TAG=iron
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
 if [[ ! -f "${SCRIPT_DIR}"/config/sshd_entrypoint.sh ]]; then
@@ -31,16 +31,5 @@ while [ "$#" -gt 0 ]; do
   esac
 done
 
-docker pull "ros:${BASE_TAG}"
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  USER_ID="$(id -u "${USER}")"
-  GROUP_ID="$(id -g "${USER}")"
-  BUILD_FLAGS+=(--build-arg UID="${USER_ID}")
-  BUILD_FLAGS+=(--build-arg GID="${GROUP_ID}")
-fi
-
-BUILD_FLAGS+=(-t "${IMAGE_NAME}":"${BASE_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .
+BUILD_FLAGS+=(--build-arg=BASE_TAG=${BASE_TAG})
+docker buildx build -t "${IMAGE_NAME}":"${BASE_TAG}" "${BUILD_FLAGS[@]}" .

From 3491e383c6f87cc26e823f2e34b6f56e44867258 Mon Sep 17 00:00:00 2001
From: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Mon, 29 Apr 2024 13:55:50 +0200
Subject: [PATCH 3/5] refactor: build push workflow for ros2-ws (#101)

---
 .github/workflows/build-push.yml          |  27 ++---
 .github/workflows/manual-dispatch.yml     |  36 ------
 .github/workflows/reusable-build-push.yml | 137 +++++++++++++---------
 ros2_ws/VERSION.iron                      |   1 +
 4 files changed, 92 insertions(+), 109 deletions(-)
 delete mode 100644 .github/workflows/manual-dispatch.yml
 create mode 100644 ros2_ws/VERSION.iron

diff --git a/.github/workflows/build-push.yml b/.github/workflows/build-push.yml
index 5977764..690f71f 100644
--- a/.github/workflows/build-push.yml
+++ b/.github/workflows/build-push.yml
@@ -1,37 +1,26 @@
 name: Build and Push Multi-Arch Images
 
-# Run workflow on pushes to main branch
 on:
   push:
     branches:
       - main
   workflow_dispatch:
+    inputs:
+      force:
+        required: false
+        type: boolean
+        default: false
 
 jobs:
   build-ws:
     strategy:
       matrix:
-        ros2_distro: [ humble, iron ]
+        ros2_distro: [ iron ]
 
     name: Build and publish ros2-ws:${{ matrix.ros2_distro }}
     uses: ./.github/workflows/reusable-build-push.yml
     with:
-      workspace: ros2-ws
-      base_tag: ${{ matrix.ros2_distro }}
-    secrets:
-      token: ${{ secrets.GITHUB_TOKEN }}
-
-  build-control:
-    needs: build-ws
-    strategy:
-      matrix:
-        ros2_distro: [ humble, iron ]
-
-    name: Build and publish ros2-control:${{ matrix.ros2_distro }}
-    uses: ./.github/workflows/reusable-build-push.yml
-    with:
-      workspace: ros2-control
-      base_tag: ${{ matrix.ros2_distro }}
-      dockerfile_extension: .${{ matrix.ros2_distro }}
+      ros_distro: ${{ matrix.ros2_distro }}
+      force: ${{ github.event_name == 'workflow_dispatch' && inputs.force }}
     secrets:
       token: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file
diff --git a/.github/workflows/manual-dispatch.yml b/.github/workflows/manual-dispatch.yml
deleted file mode 100644
index 45f24e8..0000000
--- a/.github/workflows/manual-dispatch.yml
+++ /dev/null
@@ -1,36 +0,0 @@
-name: Manual Build and Push
-
-# Run workflow by manual dispatch
-on:
-  workflow_dispatch:
-    inputs:
-      workspace:
-        description: 'The desired workspace'
-        required: true
-        type: choice
-        options:
-          - ros2-ws
-          - ros2-control
-      base_tag:
-        description: 'The tag of the base image to use'
-        required: false
-        default: 'humble'
-      output_tag:
-        description: 'The tag for the output image (if left empty, the base tag is used)'
-        required: false
-        default: ''
-      dockerfile_extension:
-        description: 'The optional extension of the Dockerfile for variant images'
-        required: false
-        default: ''
-
-jobs:
-  build-push:
-    uses: ./.github/workflows/reusable-build-push.yml
-    with:
-      workspace: ${{ inputs.workspace }}
-      base_tag: ${{ inputs.base_tag }}
-      output_tag: ${{ inputs.output_tag }}
-      dockerfile_extension: ${{ inputs.dockerfile_extension }}
-    secrets:
-      token: ${{ secrets.GITHUB_TOKEN }}
\ No newline at end of file
diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml
index 15c776f..c75e4cd 100644
--- a/.github/workflows/reusable-build-push.yml
+++ b/.github/workflows/reusable-build-push.yml
@@ -3,71 +3,89 @@ name: Reusable workflow to build and push multi-arch images
 on:
   workflow_call:
     inputs:
-      workspace:
-        required: true
-        type: string
-      base_tag:
-        required: false
-        type: string
-        default: 'humble'
-      output_tag:
+      ros_distro:
         required: false
         type: string
-      dockerfile_extension:
+        default: "iron"
+      force:
         required: false
-        type: string
+        type: boolean
+        default: false
     secrets:
       token:
-        description: 'The GitHub token passed from the caller workflow'
+        description: "The GitHub token passed from the caller workflow"
         required: true
 
+env:
+  ROS2_WS_PATH: ros2_ws
+
 jobs:
+  check-version:
+    name: Check if the version has been updated
+    outputs:
+      has_changed: ${{ steps.check.outputs.has_changed }}
+      version: ${{ steps.versions.outputs.new_version }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 2
+      - id: versions
+        run: |
+          git show HEAD^:$ROS2_WS_PATH/VERSION.${{ inputs.ros_distro }} 2>/dev/null
+          if [[ $? == 0 ]]; then
+            PREV_VERSION=$(git show HEAD^:$ROS2_WS_PATH/VERSION.${{ inputs.ros_distro }})
+          else
+            PREV_VERSION=0.0.0
+          fi
+          NEW_VERSION=$(git show HEAD:$ROS2_WS_PATH/VERSION.${{ inputs.ros_distro }})
+
+          echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT
+          echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT
+        shell: bash
+      - uses: aica-technology/.github/.github/actions/compare-versions@v0.11.0
+        id: check
+        with:
+          previous_version: ${{ steps.versions.outputs.prev_version }}
+          new_version: ${{ steps.versions.outputs.new_version }}
+
   metadata:
+    needs: check-version
+    if: ${{ needs.check-version.outputs.has_changed == 'true' || inputs.force }}
     runs-on: ubuntu-latest
-    name: Parse inputs
+    name: Metadata
     outputs:
-      output_tag: ${{ steps.parse.outputs.output_tag }}
-      image_name: ${{ steps.parse.outputs.image_name }}
-      path: ${{ steps.parse.outputs.path }}
-      file: ${{ steps.parse.outputs.file }}
-      build_flags: ${{ steps.parse.outputs.build_flags }}
+      image_name: ${{ steps.ensure-image.outputs.image_name }}
+      image_tags: ${{ steps.tags.outputs.image_tags }}
+      build_flags: ${{ steps.tags.outputs.build_flags }}
+      git_tag: ${{ steps.tags.outputs.git_tag }}
     steps:
-      - name: Parse inputs
-        id: parse
+      - uses: aica-technology/.github/.github/actions/ghcr-ensure-prefix@v0.6.0
+        id: ensure-image
+        with:
+          image_name: aica-technology/ros2-ws
+
+      - id: tags
         run: |
-          BUILD_FLAGS=()
-          # parse base tag     
-          BASE_TAG=${{ inputs.base_tag }}
+          BUILD_FLAGS=()    
+          BASE_TAG=${{ inputs.ros_distro }}
           BUILD_FLAGS+=(--build-arg BASE_TAG=${BASE_TAG})
           echo "::debug::Using base image tag ${BASE_TAG}"
-          # parse output tag
-          OUTPUT_TAG=${{ inputs.output_tag }}
-          if [ -z ${OUTPUT_TAG} ]; then
-            OUTPUT_TAG=${BASE_TAG}
-          fi
-          echo "output_tag=${OUTPUT_TAG}" >> $GITHUB_OUTPUT
-          echo "::debug::Generated image tag will be ${OUTPUT_TAG}"
-          
-          # parse image name
-          IMAGE_NAME=${{ inputs.workspace }}
-          IMAGE_NAME=${{ github.repository_owner }}/${IMAGE_NAME//[_]/-}
-          echo "::debug::Generated image name will be ${IMAGE_NAME}"
-          echo "image_name=${IMAGE_NAME}" >> $GITHUB_OUTPUT
-          
-          # parse docker path and file
-          WS_PATH=${{ inputs.workspace }}
-          WS_PATH=${WS_PATH//[-]/_}
-          echo "path=${WS_PATH}" >> $GITHUB_OUTPUT
-          FILE=${WS_PATH}/Dockerfile${{ inputs.dockerfile_extension }}
-          echo "file=${FILE}" >> $GITHUB_OUTPUT
-
           echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
 
+          VERSION_TAG="v${{ needs.check-version.outputs.version }}"
+          IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${{ inputs.ros_distro}}","${{ inputs.ros_distro}}"
+          GIT_TAG="${{ inputs.ros_distro}}-${VERSION_TAG}"
+          echo "Image tags: ${IMAGE_TAGS}"
+          echo "Git tag: ${GIT_TAG}"
+          echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT
+          echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT
+
   build:
     needs: metadata
     strategy:
       matrix:
-        arch: [ amd64, arm64 ]
+        arch: [amd64, arm64]
         include:
           - image: ubuntu-latest
           - image: buildjet-2vcpu-ubuntu-2204-arm
@@ -78,29 +96,40 @@ jobs:
     steps:
       - uses: actions/checkout@v3
 
-      - if: needs.metadata.outputs.path == 'ros2_ws' || needs.metadata.outputs.path == 'ros_ws'
-        run: |
-          CONFIG_PATH=${{ needs.metadata.outputs.path }}/config
+      - run: |
+          CONFIG_PATH=$ROS2_WS_PATH/config
           mkdir -p ${CONFIG_PATH}
           cp common/sshd_entrypoint.sh ${CONFIG_PATH}/
-      
+
+      - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.1
+        id: merge-tags
+        with:
+          list: ${{ needs.metadata.outputs.image_tags }}
+          suffixes: ${{ matrix.arch }}
+          glue_separator: "-"
+
       - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1
         with:
           image_name: ${{ needs.metadata.outputs.image_name }}
-          image_tags: ${{ needs.metadata.outputs.output_tag }}-${{ matrix.arch }}
-          build_context_path: ${{ needs.metadata.outputs.path }}
-          dockerfile_path: ${{ needs.metadata.outputs.file }}
+          image_tags: ${{ steps.merge-tags.outputs.list }}
+          build_context_path: $ROS2_WS_PATH
+          dockerfile_path: ros2_ws/Dockerfile
           build_flags: ${{ needs.metadata.outputs.build_flags }}
           token: ${{ secrets.GITHUB_TOKEN }}
-  
+
   multi-arch:
     runs-on: ubuntu-latest
     name: Merge into a multi-arch image
-    needs: [ metadata, build ]
+    needs: [metadata, build]
     steps:
       - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1
         with:
           image_name: ${{ needs.metadata.outputs.image_name }}
-          image_tags: ${{ needs.metadata.outputs.output_tag }}
+          image_tags: ${{ needs.metadata.outputs.image_tags }}
           archs: amd64,arm64
           token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Create git tag
+        uses: aica-technology/.github/.github/actions/git-tag@v0.8.1
+        with:
+          tag: ${{ needs.metadata.outputs.git_tag }}
diff --git a/ros2_ws/VERSION.iron b/ros2_ws/VERSION.iron
new file mode 100644
index 0000000..afaf360
--- /dev/null
+++ b/ros2_ws/VERSION.iron
@@ -0,0 +1 @@
+1.0.0
\ No newline at end of file

From 57ca29b88d3bfbe09ff8fd0c02c1ae36812230a7 Mon Sep 17 00:00:00 2001
From: Louis Brunner <LouisBrunner@users.noreply.github.com>
Date: Mon, 29 Apr 2024 16:02:19 +0100
Subject: [PATCH 4/5] feat: add metadata through LABELs (#103)

---
 .github/workflows/reusable-build-push.yml | 10 +++++++---
 ros2_ws/Dockerfile                        |  9 +++++++++
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml
index c75e4cd..b79f57a 100644
--- a/.github/workflows/reusable-build-push.yml
+++ b/.github/workflows/reusable-build-push.yml
@@ -67,17 +67,21 @@ jobs:
 
       - id: tags
         run: |
-          BUILD_FLAGS=()    
+          BUILD_FLAGS=()
+
           BASE_TAG=${{ inputs.ros_distro }}
           BUILD_FLAGS+=(--build-arg BASE_TAG=${BASE_TAG})
-          echo "::debug::Using base image tag ${BASE_TAG}"
-          echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
 
           VERSION_TAG="v${{ needs.check-version.outputs.version }}"
           IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${{ inputs.ros_distro}}","${{ inputs.ros_distro}}"
           GIT_TAG="${{ inputs.ros_distro}}-${VERSION_TAG}"
+          BUILD_FLAGS+=(--build-arg VERSION=${GIT_TAG})
+
+          echo "::debug::Using base image tag ${BASE_TAG}"
+          echo "Build flags: ${BUILD_FLAGS[@]}"
           echo "Image tags: ${IMAGE_TAGS}"
           echo "Git tag: ${GIT_TAG}"
+          echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
           echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT
           echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT
 
diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile
index efc3325..a626666 100644
--- a/ros2_ws/Dockerfile
+++ b/ros2_ws/Dockerfile
@@ -138,3 +138,12 @@ COPY --from=ros2-control / /
 
 # start as ROS user
 USER ${USER}
+
+# Metadata
+ARG VERSION
+ARG BASE_TAG
+LABEL org.opencontainers.image.title="AICA ROS2 image"
+LABEL org.opencontainers.image.description="AICA base ROS2 image (includes ros2_control)"
+LABEL org.opencontainers.image.version="${VERSION}"
+LABEL org.opencontainers.image.base.name="docker.io/library/ros:${BASE_TAG}"
+LABEL tech.aica.image.metadata='{"type":"base/ws","base":{"name":"docker.io/library/ros","version":"'${BASE_TAG}'"}}'

From 7f4043c8b261845b8dd94af8757fe16e870d645d Mon Sep 17 00:00:00 2001
From: Dominic Reber <71256590+domire8@users.noreply.github.com>
Date: Tue, 30 Apr 2024 07:14:04 +0200
Subject: [PATCH 5/5] docs: update README (#102)

---
 .github/workflows/reusable-build-push.yml |  2 +-
 README.md                                 | 49 +++++++++--------------
 ros2_ws/Dockerfile                        |  4 +-
 3 files changed, 22 insertions(+), 33 deletions(-)

diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml
index b79f57a..184fa79 100644
--- a/.github/workflows/reusable-build-push.yml
+++ b/.github/workflows/reusable-build-push.yml
@@ -74,7 +74,7 @@ jobs:
 
           VERSION_TAG="v${{ needs.check-version.outputs.version }}"
           IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${{ inputs.ros_distro}}","${{ inputs.ros_distro}}"
-          GIT_TAG="${{ inputs.ros_distro}}-${VERSION_TAG}"
+          GIT_TAG="${VERSION_TAG}-${{ inputs.ros_distro}}"
           BUILD_FLAGS+=(--build-arg VERSION=${GIT_TAG})
 
           echo "::debug::Using base image tag ${BASE_TAG}"
diff --git a/README.md b/README.md
index 3d713e6..8977d1a 100644
--- a/README.md
+++ b/README.md
@@ -2,44 +2,33 @@
 
 ![Build and Push ROS and ROS2 images](https://github.com/aica-technology/docker-images/actions/workflows/build-push.yml/badge.svg)
 
-## Images
+This repository is used to produce pre-configured and versioned Docker images with ROS 2 and `ros2_control` packages and
+other dependencies pre-installed. The images can be used as workspaces for development containers or as base images for
+downstream targets.
 
-### ROS workspace (noetic)
+## ROS 2 workspace (ros2-ws)
 
-The ros_ws image provides a ROS workspace (noetic). Build it by running the 
-[build script](ros_ws/build.sh) while in the [ros_ws](ros_ws) directory.
+The `ros2_ws` image provides a ROS 2 workspace with pre-installed ros2-control packages.
 
-The username that should be supplied at login is `ros`.
+### Deprecated images
 
-### ROS workspace with pre-installed control libraries
+1. ROS workspace (noetic): the ros_ws image provides a ROS workspace (noetic). Build it by running the
+   [build script](ros_ws/build.sh) while in the [ros_ws](ros_ws) directory. The username that should be supplied at
+   login is `ros`.
 
-The ros_control_libraries image provides the same ROS workspace as ros_ws but
-comes with the pre-installed [control libraries](https://github.com/aica-technology/control-libraries).
+2. ROS workspace with pre-installed control libraries: the ros_control_libraries image provides the same ROS workspace
+   as ros_ws but comes with the pre-installed [control libraries](https://github.com/aica-technology/control-libraries).
 
-### ROS2 workspace
+3. ROS 2 workspace with pre-installed control libraries: the ros2_control_libraries image provides the a ROS 2 workspace
+   and comes with the pre-installed [control libraries](https://github.com/aica-technology/control-libraries).
 
-Similar to the ROS workspace, the ros2_ws image provides a ROS2 workspace.
-Build it by running the [build script](ros2_ws/build.sh) while
-in the [ros2_ws](ros2_ws) directory. Modify the ROS2 distribution
-in the script as desired.
+4. ROS 2 workspace with pre-installed control libraries and modulo: the ros2_modulo image provides a ROS 2 workspace with
+   [modulo](https://github.com/aica-technology/modulo) already built and comes with pre-installed
+   [control libraries](https://github.com/aica-technology/control-libraries).
 
-The username that should be supplied at login is `ros2`.
-
-### ROS2 workspace with pre-installed control libraries
-
-The ros2_control_libraries image provides the same ROS2 workspace as ros2_ws but
-comes with the pre-installed [control libraries](https://github.com/aica-technology/control-libraries).
-
-### ROS2 workspace with pre-installed control libraries and modulo
-
-The ros2_modulo image provides a ROS2 workspace with [modulo](https://github.com/aica-technology/modulo)
-already built and comes with pre-installed [control libraries](https://github.com/aica-technology/control-libraries).
-
-### ROS2 workspace with pre-installed control libraries, modulo, and ROS2 control
-
-The ros2_modulo_control image provides a ROS2 workspace with [modulo](https://github.com/aica-technology/modulo)
-already built and comes with pre-installed [control libraries](https://github.com/aica-technology/control-libraries)
-and ROS2 control packages.
+5. ROS 2 workspace with pre-installed control libraries, modulo, and ROS 2 control: the ros2_modulo_control image provides
+   a ROS 2 workspace with [modulo](https://github.com/aica-technology/modulo) already built and comes with pre-installed
+   [control libraries](https://github.com/aica-technology/control-libraries) and ROS 2 control packages.
 
 ## Scripts
 
diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile
index a626666..da3e581 100644
--- a/ros2_ws/Dockerfile
+++ b/ros2_ws/Dockerfile
@@ -142,8 +142,8 @@ USER ${USER}
 # Metadata
 ARG VERSION
 ARG BASE_TAG
-LABEL org.opencontainers.image.title="AICA ROS2 image"
-LABEL org.opencontainers.image.description="AICA base ROS2 image (includes ros2_control)"
+LABEL org.opencontainers.image.title="AICA ROS 2 image"
+LABEL org.opencontainers.image.description="AICA base ROS 2 image (includes ros2_control)"
 LABEL org.opencontainers.image.version="${VERSION}"
 LABEL org.opencontainers.image.base.name="docker.io/library/ros:${BASE_TAG}"
 LABEL tech.aica.image.metadata='{"type":"base/ws","base":{"name":"docker.io/library/ros","version":"'${BASE_TAG}'"}}'