refactor: dockerfile use multi-stage builds to only include necessary…

… files

Dockerfile

@@ -1,7 +1,7 @@
-# Base image: using ROS 2 Humble
-FROM ros:humble
+# Stage 1: Build the ROS 2 workspace
+FROM ros:humble AS builder
 
-# Install necessary dependencies
+# Install necessary dependencies for building
 RUN apt-get update && apt-get install -y \
     python3-colcon-common-extensions \
     git \
@@ -16,12 +16,20 @@ COPY . src/vortex-auv
 # Clone vortex-msgs repo into the src folder
 RUN git clone https://github.com/vortexntnu/vortex-msgs.git src/vortex-msgs
 
-# Source the ROS 2 environment
+# Source the ROS 2 environment and build the workspace using colcon
 SHELL ["/bin/bash", "-c"]
-
-# Build the workspace using colcon
 RUN source /opt/ros/humble/setup.bash && \
     colcon build --symlink-install
 
+# Stage 2: Minimal runtime image with the install directory only
+FROM ros:humble
+
+# Set up the workspace
+WORKDIR /ros2_ws
+
+# Copy only the necessary files from the install directory
+COPY --from=builder /ros2_ws/install /ros2_ws/install
+COPY --from=builder /ros2_ws/build /ros2_ws/build
+
 # Source the workspace on container start
-CMD ["bash", "-c", "source /opt/ros/humble/setup.bash && source install/setup.bash && bash"]
+CMD ["bash", "-c", "source /opt/ros/humble/setup.bash && source install/setup.bash && bash"]