From 9a8aa045d4c22b5e5f64fe3d5443ae65836a8750 Mon Sep 17 00:00:00 2001
From: JuneChul Roh <jroh@ti.com>
Date: Sun, 1 Sep 2024 20:37:24 -0500
Subject: [PATCH] Added a step for building and installing the SDK ROS nodes to
 the system FS of the SDK container

---
 .github/workflows/docker-build-pc.yml | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/.github/workflows/docker-build-pc.yml b/.github/workflows/docker-build-pc.yml
index fd3bf57..6e958ba 100644
--- a/.github/workflows/docker-build-pc.yml
+++ b/.github/workflows/docker-build-pc.yml
@@ -34,6 +34,8 @@ jobs:
         run: |
           git clone --branch ${{ env.REPO_TAG }} --single-branch ${{ env.REPO_URL }} ${{ env.SDK_DIR }}
           # gh repo clone robotics_sdk ${{ env.SDK_DIR }} -- --branch ${{ env.REPO_BRANCH }}
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh
 
       - name: Set up Docker build script
         run: |
@@ -58,6 +60,27 @@ jobs:
           cd $HOME/j7ros_home
           ./docker_build.sh
 
+      - name: Build and install the SDK ROS nodes
+        run: |
+          cd $HOME/j7ros_home
+          # create docker_run_commit.sh
+          script_file=docker_run_commit.sh
+          cp docker_run.sh $script_file
+          sed -i 's/--rm //' $script_file
+          sed -i '/xhost +local:$USER/d' $script_file
+          sed -i '/xhost -local:$USER/d' $script_file
+          echo 'CONTAINER_ID=$(docker ps -a --filter "ancestor=$DOCKER_TAG" --format "{{.ID}}" | head -n 1)' >> $script_file
+          echo 'docker tag $DOCKER_TAG ${DOCKER_TAG}-org' >> $script_file
+          echo 'docker commit $CONTAINER_ID ${DOCKER_TAG}' >> $script_file
+          more $script_file
+          # build and install the SDK ROS nodes
+          ./docker_run_commit.sh colcon build \
+            --base-paths /root/j7ros_home/ros_ws/src/robotics_sdk/ros2 \
+            --cmake-force-configure \
+            --packages-skip ti_external ti_vision_cnn ti_sde ti_estop ti_vl ti_objdet_range ti_ros_gst_plugins \
+            --install-base /opt/ros/humble
+          docker images
+
       - name: Add a Docker label
         run: |
           docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz