Refactor template_ws

[j3soon]

This refactor addresses several issues we encountered and discussed since the initial version of template_ws.

This also simplifies some commands, improves performance, and automate commands to make the development process more streamlined.

I would appreciate any feedback from @YuZhong-Chen and @Assume-Zhan when you have time to ensure I didn’t miss anything. If it looks good, you could submit a review by simply approve this PR, and optionally leave some comments. Thank you!

---

After merging this PR, we still need to:

• Add some basic tests/linting to ensure all workspace styles are in sync with the template workspace (Add basic linting scripts for codebase maintenance #34)
• Refactor all other workspace style (Migrate all existing workspace style to the latest template workspace style #35)

[YuZhong-Chen]

Hi, I think you missed installing Python pip in this section.

ros2-essentials/template_ws/docker/Dockerfile

Lines 40 to 43 in afdb58c

	# Install Python pip
	RUN --mount=type=cache,target=/var/cache/apt \
	apt-get update && apt-get install -y \
	&& rm -rf /var/lib/apt/lists/*

[j3soon]

Hi @YuZhong-Chen , I just pushed a fix, thanks!

[YuZhong-Chen]

I think we can support multi-platform builds in this PR, otherwise, it will be difficult to refactor the existing workspace, such as husky_ws. However, we might not support arm64 in every workspace, we may need to add some comments in the compose file to indicate whether this Dockerfile supports arm64.

To enable arm64 architecture support in template_ws, we can add the following lines.

ros2-essentials/husky_ws/docker/Dockerfile

Lines 1 to 10 in 443c2bb

	# Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
	FROM arm64v8/ros:humble AS arm64
	# Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
	FROM osrf/ros:humble-desktop-full AS amd64
	# Use docker automatic platform args to select the base image.
	# It may be `arm64` or `amd64` depending on the platform.
	# Reference:
	# - https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
	FROM $TARGETARCH

ros2-essentials/husky_ws/docker/Dockerfile

Lines 51 to 56 in 443c2bb

	RUN if [ "$TARGETARCH" = "amd64" ]; then \
	apt-get update && apt-get install -y \
	ros-$ROS_DISTRO-gazebo-ros-pkgs \
	ros-$ROS_DISTRO-gazebo-ros2-control \
	&& rm -rf /var/lib/apt/lists/*; \
	fi

ros2-essentials/husky_ws/docker/compose.yaml

Lines 3 to 9 in 443c2bb

	build:
	context: .
	dockerfile: Dockerfile
	# Specify the target platform to build the image.
	# Reference: https://docs.docker.com/compose/compose-file/build/#platforms
	# platforms:
	# - "linux/arm64"

[j3soon]

@YuZhong-Chen Nice suggestion! just added this.

[YuZhong-Chen]

I haven't used Docker build cache before, so I'm currently learning about it step-by-step from the official documentation. I believe our current Dockerfile is still missing some commands.

Here’s an example from BuildKit:

# syntax=docker/dockerfile:1
FROM ubuntu
RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  apt update && apt-get --no-install-recommends install -y gcc

Based on the example above, we should:

• Remove docker-clean and add some commands in keep-cache. Ref1 Ref2.
• Add sharing=private to prevent errors when building multiple Docker images in parallel. Ref

I'm currently not sure if we need to mount /var/lib/apt, because we have encountered issues before where this cache prevented us from updating apt lib lists. I prefer sticking with the existing approach: directly deleting it and regenerating it each time it's used.

If you want to learn more, I think this website explains it very clearly.

[YuZhong-Chen]

I'm sorry, I didn't clarify the previous example well. You should mount the cache here in commit f8e86d9

By the way, we could add some examples in the TODO section to remind users to use the cache.

# TODO: Add more commands here
# For example, to install additional packages, uncomment the following lines and add the package names
# RUN --mount=type=cache,target=/var/cache/apt \
#     apt-get update && apt-get install -y \
#     $OTHER_PACKAGES \
#     && rm -rf /var/lib/apt/lists/*

However, mounting the cache might involve changes, we can wait until the previous comment is resolved.

[j3soon]

@YuZhong-Chen Thanks for the info! I'm also new to this feature and learned a lot by going through the detailed references you provided. I agree with your suggestions on this issue, and just pushed a fix accordingly.

[YuZhong-Chen]

I have added some commits to fix the issues I observed. If these commits are fine, I believe the current changes can be merged into the master branch.

By the way, should we rename the master branch to main? Although this change won’t affect anything, I prefer the main naming convention, and the official default branch name has been updated. You can refer to this link for more information.

[j3soon]

Thanks for reviewing this PR. I'll go ahead and merge it.

I agree with you and just renamed the default branch from master to main. Thanks for the reminder!