From 4d1847e631e56b7ffc27058aa23b8646b0d10b38 Mon Sep 17 00:00:00 2001
From: RonaldsonBellande <ronaldsonbellande@gmail.com>
Date: Sat, 11 May 2024 03:32:58 -0400
Subject: [PATCH] latest pushes

---
 README.md               | 31 ++++++++++++++++++++++++++++++-
 docker/Dockerfile.ros1  | 12 +++++++++---
 scripts/catkin_setup.sh |  6 ++++--
 scripts/colcon_setup.sh |  7 +++++--
 4 files changed, 48 insertions(+), 8 deletions(-)

diff --git a/README.md b/README.md
index 0744115..86652c8 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,32 @@
 # Bellande Algorithms Web ROS/ROS2 API
+========================================
 
-## - Functionality is to use Bellande Algorithms via Bellande API's 
+## Docker Image Visit
+----------------------
+
+Explore the Docker image for the Bellande Robotic Architecture [here](https://hub.docker.com/r/ronaldsonbellande/bellande_robotic_environment).
+
+## Overview
+-----------
+
+The Bellande Algorithms Web ROS/ROS2 API serves as a gateway to utilize the sophisticated algorithms developed by Bellande. Through this API, users can access and integrate Bellande's algorithms seamlessly into their robotic systems.
+
+## Functionality
+----------------
+
+The primary functionality of this API is to provide access to Bellande Algorithms. It acts as an intermediary, enabling communication between your application and Bellande's advanced algorithms. Whether you're working with ROS or ROS2, this API facilitates the utilization of Bellande's cutting-edge solutions in your robotic projects.
+
+## Docker Image
+----------------
+
+For convenient deployment and usage, a Docker image is available for the Bellande Robotic Environment. You can find it on Docker Hub [here](https://hub.docker.com/r/ronaldsonbellande/bellande_robotic_environment).
+
+## Usage
+---------
+
+To begin leveraging Bellande's algorithms in your projects, simply pull the Docker image and integrate the API into your robotic environment. Detailed instructions on how to deploy and utilize the API can be found in the provided documentation.
+
+## Get Started
+---------------
+
+Start exploring the capabilities of Bellande Algorithms by incorporating them into your robotic workflows today!
diff --git a/docker/Dockerfile.ros1 b/docker/Dockerfile.ros1
index 0aaf0ce..5eff7b0 100644
--- a/docker/Dockerfile.ros1
+++ b/docker/Dockerfile.ros1
@@ -15,7 +15,7 @@
 
 ARG ROS_ARCHITECTURE_VERSION=latest
 
-FROM ubuntu:20.04 as base_build
+FROM ronaldsonbellande/bellande_robotic_environment:latest
 SHELL [ "/bin/bash" , "-c" ]
 
 ENV DEBIAN_FRONTEND noninteractive
@@ -66,9 +66,13 @@ RUN pip3 install --upgrade pip
 RUN pip --no-cache-dir install -r requirements/requirements.txt
 
 # Install dependencies for ros system 
-RUN apt-get update && apt-get install -y --no-install-recommends <requirements/ros_requirements.txt \
+RUN apt-get update \
+  && apt-get install -y --no-install-recommends <requirements/ros_requirements.txt \
   && rm -rf /var/lib/apt/lists/*
 
+# Add /usr/bin to the PATH
+ENV PATH="/usr/bin:${PATH}"
+
 # Create local catkin workspace
 RUN mkdir -p $CATKIN_WS/src
 
@@ -81,6 +85,7 @@ WORKDIR $CATKIN_WS
 # Initialize local catkin workspace, install dependencies and build workpsace
 RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc
 RUN source ~/.bashrc
+RUN catkin config  --extend "/opt/ros/"${ROS_VERSION}"
 
 RUN cd $CATKIN_WS \
   && rosdep init \
@@ -94,5 +99,6 @@ COPY ../scripts/catkin_setup.sh /usr/local/bin/catkin_setup.sh
 RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
 RUN chmod +x /usr/local/bin/catkin_setup.sh
 
-ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
+RUN /usr/local/bin/catkin_setup.sh
+
 CMD ["/bin/bash"]
diff --git a/scripts/catkin_setup.sh b/scripts/catkin_setup.sh
index 12def21..ec9e444 100755
--- a/scripts/catkin_setup.sh
+++ b/scripts/catkin_setup.sh
@@ -15,6 +15,8 @@
 # You should have received a copy of the GNU General Public License
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-
+# Build catkin workspace
 catkin build
-source "/root/catkin_ws/devel/setup.bash"
+
+# Source workspace setup file
+source devel/setup.bash
diff --git a/scripts/colcon_setup.sh b/scripts/colcon_setup.sh
index d17146a..4ba266f 100755
--- a/scripts/colcon_setup.sh
+++ b/scripts/colcon_setup.sh
@@ -16,5 +16,8 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 
-colcon build 
-source "./install/setup.bash"
+# Build catkin workspace
+colcon build
+
+# Source workspace setup file
+source ${CATKIN_WS}/install/setup.bash