cleaning

Signed-off-by: Dharini Dutia <[email protected]>

moveit2/Dockerfile

@@ -81,14 +81,6 @@ RUN python3 -m pip install -U \
   pytest-rerunfailures \
   pytest
 
-# TODO: Temporary CMake Update
-# RUN wget -qO - https://apt.kitware.com/keys/kitware-archive-latest.asc | sudo apt-key add -
-# RUN sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
-# RUN sudo apt-get update && sudo apt-get install \
-#     cmake-data=3.22.2-0kitware1ubuntu20.04.1 \
-#     cmake=3.22.2-0kitware1ubuntu20.04.1 \
-#     -y --allow-downgrades
-
 # Get the MoveIt2 source code
 WORKDIR ${HOME_DIR}
 RUN sudo git clone https://github.com/ros-planning/moveit2.git -b ${ROSDISTRO} moveit2/src
@@ -119,12 +111,6 @@ RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
 COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
 RUN vcs import src < /tmp/moveit2_tutorials.repos
 
-# TODO: temp fix for qt compatibility in focal
-# RUN cd src/moveit_task_constructor \
-#   && sudo git remote add other https://github.com/ubi-agni/moveit_task_constructor.git \
-#   && sudo git fetch other \
-#   && sudo git checkout fix-qt-compat
-
 # Update the ownership of the source files (had to use sudo above to work around
 # a possible inherited 'insteadof' from the host that forces use of ssh
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}

space_robots/Dockerfile

@@ -19,7 +19,7 @@
 #   VCS_REF     - The git revision of the Space ROS source code (no default value).
 #   VERSION     - The version of Space ROS (default: "preview")
 
-FROM osrf/space-ros:latest
+FROM openrobotics/moveit2:latest
 
 # Define arguments used in the metadata definition
 ARG VCS_REF
@@ -43,22 +43,10 @@ ENV GZ_VERSION fortress
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
 
-# TODO: Temporary CMake Update
-# RUN wget -qO - https://apt.kitware.com/keys/kitware-archive-latest.asc | sudo apt-key add -
-# RUN sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
-# RUN sudo apt-get update && sudo apt-get install \
-#     cmake-data=3.22.2-0kitware1ubuntu20.04.1 \
-#     cmake=3.22.2-0kitware1ubuntu20.04.1 \
-#     -y --allow-downgrades
-
-# Clone all space-ros sources
-RUN mkdir ${SPACEROS_DIR}/src \
-  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
-
 # Get rosinstall_generator
 RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
-# TODO: no packages left after exclusions
+# TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
 # Generate repos file for demo dependencies, excluding packages from Space ROS core.
 # COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
 # COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/