Minimal viable product

.github/workflows/buid-docker.yml

@@ -10,7 +10,7 @@ env:
   IMAGE_NAME: cprtsoftware/container-launcher
 
 jobs:
-  gstreamer-build:
+  build:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
@@ -20,13 +20,25 @@ jobs:
         uses: docker/setup-buildx-action@v3
 
       - name: Docker login
+        if: github.event_name == 'push'
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Build & push gstreamer
-        id: gstreamer_build
+      - name: Build (no push on PR)
+        if: github.event_name == 'pull_request'
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: Dockerfile
+          platforms: linux/amd64, linux/arm64
+          push: false
+          provenance: false
+
+      - name: Build & push (only on merge to main)
+        if: github.event_name == 'push'
+        id: build
         uses: docker/build-push-action@v6
         with:
           context: .
@@ -38,4 +50,4 @@ jobs:
             ${{ env.IMAGE_NAME }}:${{ github.sha }}
           cache-from: type=registry,ref=${{ env.IMAGE_NAME }}:cache
           cache-to: type=registry,ref=${{ env.IMAGE_NAME }}:cache,mode=max
-          provenance: false
+          provenance: false

src/config/launchOptions.ts

@@ -4,7 +4,7 @@ export interface OptionConfig {
   command?: string[];
 }
 
-const image = "cprtsoftware/cprt_rover_24:jetson";
+const image = "cprtsoftware/rover:arm64";
 
 export const launchOptions: Record<string, OptionConfig> = {
   core: {
@@ -23,16 +23,8 @@ export const launchOptions: Record<string, OptionConfig> = {
     image: image,
     command: ["ros2", "launch", "bringup", "arm.launch.py"],
   },
-  localization: {
+  joy: {
     image: image,
-    command: ["ros2", "launch", "bringup", "localization.launch.py"],
-  },
-  navigation: {
-    image: image,
-    command: ["ros2", "launch", "bringup", "navigation.launch.py"],
-  },
-  science: {
-    image: image,
-    command: ["ros2", "launch", "bringup", "science.launch.py"],
+    command: ["ros2", "run", "joy", "joy_node"],
   },
 };