Update Dockerfiles and configuration for improved package management and controller settings

docker/jazzy/ros-iiwa7-webots/Dockerfile

@@ -1,4 +1,6 @@
-FROM evilfisru/ros:jazzy-base-noble
+ARG IMAGE=evilfisru/ros:base-jazzy
+FROM ${IMAGE}
+
 ARG BUILD_TYPE=release
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
@@ -40,16 +42,22 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 WORKDIR /ros2_ws
 
-COPY src/iiwa_* src/
+COPY src/iiwa_bringup src/iiwa_bringup
+COPY src/iiwa_config src/iiwa_config
+COPY src/iiwa_controller src/iiwa_controller
+COPY src/iiwa_description src/iiwa_description
+COPY src/iiwa_msgs src/iiwa_msgs
+COPY src/iiwa_planning src/iiwa_planning
+COPY src/iiwa_utils src/iiwa_utils
 
 RUN apt-get update && \
     rosdep install --from-paths src -i -r -y && \
     rm -rf /var/lib/apt/lists/*
 
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
     colcon build --mixin release
 
-RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
+RUN if [ "${BUILD_TYPE}" = "release" ]; then rm -rf src/ build/ log/; fi
 
 RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
 

docker/jazzy/ros-iiwa7-webots/run.sh

@@ -4,7 +4,7 @@
 #   ./run.sh                          — interactive shell
 #   ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
 
-IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:jazzy-webots}"
+IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy}"
 
 # Allow local Docker processes to connect to the X server
 xhost +local:docker > /dev/null
@@ -12,6 +12,7 @@ xhost +local:docker > /dev/null
 docker run -it --rm \
     --name ros-webots \
     --network host \
+    -e USER=root \
     -e DISPLAY="${DISPLAY}" \
     -e QT_X11_NO_MITSHM=1 \
     -e LIBGL_ALWAYS_SOFTWARE=1 \