following up

.docker/jazzy.amd64.dockerfile

@@ -1,6 +1,6 @@
 ARG ROS_DISTRO="jazzy"
 FROM osrf/ros:$ROS_DISTRO-desktop-full
-ARG BRANCH="dockertest"
+ARG BRANCH="ros2"
 
 # Install Utilities
 # hadolint ignore=DL3008
@@ -53,6 +53,15 @@ ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
 extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
+# Install Ardupilot - Ardusub
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ardusub-ubuntu-install.sh install.sh
+RUN bash install.sh
+# Install mavros
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/mavros-ubuntu-install.sh install.sh
+RUN bash install.sh
+
 # Set up Dave workspace
 ENV DAVE_WS=/opt/dave_ws
 WORKDIR $DAVE_WS/src
@@ -73,9 +82,56 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
 
 # source entrypoint setup
 RUN touch /ros_entrypoint.sh && sed --in-place --expression \
-    '$i source "$DAVE_WS/install/setup.bash"' /ros_entrypoint.sh
+    '$i source "/opt/dave_ws/install/setup.bash"' /ros_entrypoint.sh \
+    && sed --in-place --expression \
+    '$i cd /root' /ros_entrypoint.sh
+
+RUN cp /home/docker/.bashrc ~/.bashrc
 
-# Set User as user
-USER $USER
-RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc  && \
-    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc
+# Source ROS and Gazebo
+RUN sed --in-place --expression \
+'$i source "/opt/ros/jazzy/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/gazebo/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/mavros/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PATH=/opt/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PATH=/opt/ardupilot_dave/ardupilot/Tools/autotest:\$PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export GZ_SIM_RESOURCE_PATH=/opt/ardupilot_dave/ardupilot_gazebo/models:/opt/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;37m \n=====\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''  ____    ___     _______      _                     _   _      \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' |  _ \\  / \\ \\   / | ____|    / \\   __ _ _   _  __ _| |_(_) ___ \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' | | | |/ _ \\ \\ / /|  _|     / _ \\ / _` | | | |/ _` | __| |/ __|\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' | |_| / ___ \\ V / | |___   / ___ \\ (_| | |_| | (_| | |_| | (__ \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' |____/_/   \\_\\_/  |_____| /_/   \\_\\__, |\\__,_|\\__,_|\\__|_|\\___|\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' __     ___      _               _     _____            _       \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\'' \\ \\   / (_)_ __| |_ _   _  __ _| |   | ____|_ ____   _(_)_ __  \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''  \\ \\ / /| | `__| __| | | |/ _` | |   |  _| | `_ \\ \\ / | | `__| \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''   \\ V / | | |  | |_| |_| | (_| | |   | |___| | | \\ V /| | |_   \n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''    \\_/  |_|_|   \\__|\\__,_|\\__,_|_|   |_____|_| |_|\\_/ |_|_(_)  \n\\033[0m'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;32m\n =====\\033[0m\n'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;32m 👋 Hi! This is Docker virtual environment for DAVE\n\\033[0m'\'' ' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i printf '\''\\033[1;33m\tROS2 Jazzy - Gazebo Harmonic (w ardupilot(ardusub) + mavros)\n\n\\033[0m'\'' ' /ros_entrypoint.sh

.docker/jazzy.arm64v8.dockerfile

@@ -82,7 +82,7 @@ FROM woensugchoi/ubuntu-arm-rdp-base:latest
 ARG USER=docker
 
 # ROS-Gazebo arg
-ARG BRANCH="dockertest"
+ARG BRANCH="ros2"
 ARG ROS_DISTRO="jazzy"
 
 # Install ROS-Gazebo framework
@@ -148,9 +148,17 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && colcon build
 # Set User as user
 USER docker
 RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
-    echo "source ~/gazebo/install/setup.bash" >> ~/.bashrc && \
-    echo "if [ -d ~/HOST ]; then chown docker:docker ~/HOST; fi" \
-    >> ~/.bashrc
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/mavros/install/setup.bash" >> ~/.bashrc && \
+    echo "source $DAVE_UNDERLAY/install/setup.bash" >> ~/.bashrc && \
+    echo "export GEOGRAPHICLIB_GEOID_PATH=/usr/local/share/GeographicLib/geoids" >> ~/.bashrc && \
+    echo "export PYTHONPATH=\$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
+    echo "export PATH=/home/$USER/ardupilot_dave/ardupilot/Tools/autotest:\$PATH" >> ~/.bashrc && \
+    echo "export PATH=/home/$USER/ardupilot_dave/ardupilot/build/sitl/bin:\$PATH" >> ~/.bashrc && \
+    echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH" >> ~/.bashrc && \
+    echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_dave/ardupilot_gazebo/models:/home/$USER/ardupilot_dave/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH" >> ~/.bashrc && \
+    echo "\n\n" >> ~/.bashrc && echo "if [ -d ~/HOST ]; then chown $USER:$USER ~/HOST; fi" >> ~/.bashrc  && \
+    echo "\n\n" >> ~/.bashrc
 
 # Other environment variables
 RUN echo "export XDG_RUNTIME_DIR=~/.xdg_log" >> ~/.bashrc && \
@@ -185,4 +193,4 @@ RUN echo "[Desktop Entry]\nType=Application" \
     echo "Exec=gnome-terminal -- bash -c 'cat ~/.hi; cd ~/HOST; exec bash'" \
     >> /home/docker/.config/autostart/terminal.desktop && \
     echo -e "X-GNOME-Autostart-enabled=true" \
-    >> /home/docker/.config/autostart/terminal.desktop
+    >> /home/docker/.config/autostart/terminal.desktop