From 433fa9a535dcef7e79d001679635dadce7c1d0d5 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 3 Mar 2026 17:56:55 +0000
Subject: [PATCH 01/24] feat: add cyclone dds support

---
 base.dockerfile       |  7 ++++++-
 cuda.dockerfile       |  7 ++++++-
 docker/cyclonedds.xml | 10 ++++++++++
 3 files changed, 22 insertions(+), 2 deletions(-)
 create mode 100644 docker/cyclonedds.xml

diff --git a/base.dockerfile b/base.dockerfile
index 9eda8c9..708f27f 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -18,6 +18,7 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \
     wget \
     unzip \
     ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions \
     && rm -rf /var/lib/apt/lists/*
 
@@ -37,12 +38,16 @@ RUN groupadd --gid $USER_GID $USERNAME \
   && chmod 0440 /etc/sudoers.d/$USERNAME \
   && rm -rf /var/lib/apt/lists/*
 
+COPY ./docker/cyclonedds.xml /etc/cyclonedds.xml 
+  
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
     echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
     echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
     echo "alias t='tmux'" >> /etc/bash.bashrc && \
-    echo "alias cls='clear'" >> /etc/bash.bashrc
+    echo "alias cls='clear'" >> /etc/bash.bashrc && \
+    echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
+    echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
 
 CMD ["bash", "-l"]
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 3093ba2..6e99ea4 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -39,9 +39,12 @@ RUN add-apt-repository universe \
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
   ros-${ROS_DISTRO}-ros-base \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
   python3-rosdep \
   && rm -rf /var/lib/apt/lists/*
 
+COPY ./docker/cyclonedds.xml /etc/cyclonedds.xml 
+
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
 
 # Setup VirtualGL
@@ -68,7 +71,9 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
   echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
   echo "alias t='tmux'" >> /etc/bash.bashrc && \
-  echo "alias cls='clear'" >> /etc/bash.bashrc
+  echo "alias cls='clear'" >> /etc/bash.bashrc && \
+  echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
+  echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
 
 ENV TVNC_VGL=1
 ENV VGL_ISACTIVE=1
diff --git a/docker/cyclonedds.xml b/docker/cyclonedds.xml
new file mode 100644
index 0000000..82132ff
--- /dev/null
+++ b/docker/cyclonedds.xml
@@ -0,0 +1,10 @@
+<CycloneDDS>
+  <Domain>
+    <General>
+      <AllowMulticast>true</AllowMulticast>
+    </General>
+    <Discovery>
+      <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>
\ No newline at end of file

From 73c5495d05d16f5d9b2c90059575fa887571c135 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 3 Mar 2026 18:01:36 +0000
Subject: [PATCH 02/24] fix: correct path

---
 base.dockerfile | 2 +-
 cuda.dockerfile | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 708f27f..373d682 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -38,7 +38,7 @@ RUN groupadd --gid $USER_GID $USERNAME \
   && chmod 0440 /etc/sudoers.d/$USERNAME \
   && rm -rf /var/lib/apt/lists/*
 
-COPY ./docker/cyclonedds.xml /etc/cyclonedds.xml 
+COPY docker/cyclonedds.xml /etc/cyclonedds.xml 
   
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 6e99ea4..bcac7f5 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -43,7 +43,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   python3-rosdep \
   && rm -rf /var/lib/apt/lists/*
 
-COPY ./docker/cyclonedds.xml /etc/cyclonedds.xml 
+COPY docker/cyclonedds.xml /etc/cyclonedds.xml 
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
 

From 66e284edf18f013dd00cea043942fb27f74964c8 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 3 Mar 2026 18:06:27 +0000
Subject: [PATCH 03/24] fix: update path to match context

not sure if this is the right way of doing this or not
---
 base.dockerfile | 2 +-
 cuda.dockerfile | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 373d682..0aa5c74 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -38,7 +38,7 @@ RUN groupadd --gid $USER_GID $USERNAME \
   && chmod 0440 /etc/sudoers.d/$USERNAME \
   && rm -rf /var/lib/apt/lists/*
 
-COPY docker/cyclonedds.xml /etc/cyclonedds.xml 
+COPY cyclonedds.xml /etc/cyclonedds.xml 
   
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
diff --git a/cuda.dockerfile b/cuda.dockerfile
index bcac7f5..10cf513 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -43,7 +43,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   python3-rosdep \
   && rm -rf /var/lib/apt/lists/*
 
-COPY docker/cyclonedds.xml /etc/cyclonedds.xml 
+COPY cyclonedds.xml /etc/cyclonedds.xml 
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
 

From c2666828d4cc7c33e24503c3aea795397b4d06e1 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 3 Mar 2026 18:21:26 +0000
Subject: [PATCH 04/24] fix: isolate cyclonedds steps

---
 base.dockerfile | 9 +++++++--
 cuda.dockerfile | 6 +++++-
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 0aa5c74..d872173 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -12,16 +12,16 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get upgrade -y && apt-get install -y \
     build-essential \
+    ca-certificates \
     cmake \
     git \
     curl \
     wget \
     unzip \
     ros-${ROS_DISTRO}-ros-base \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions \
     && rm -rf /var/lib/apt/lists/*
-
+    
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
 ARG USERNAME=ros
@@ -38,6 +38,10 @@ RUN groupadd --gid $USER_GID $USERNAME \
   && chmod 0440 /etc/sudoers.d/$USERNAME \
   && rm -rf /var/lib/apt/lists/*
 
+# Cyclone DDS
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
 COPY cyclonedds.xml /etc/cyclonedds.xml 
   
 # Configure bash profile
@@ -49,5 +53,6 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
     echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
     echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
 
+USER ros
 CMD ["bash", "-l"]
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 10cf513..3b591bc 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -17,6 +17,7 @@ RUN apt-get update ; \
   apt-get install -y --no-install-recommends \
   locales \
   curl \
+  ca-certificates \
   gnupg2 \
   lsb-release \
   git \
@@ -39,10 +40,13 @@ RUN add-apt-repository universe \
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
   ros-${ROS_DISTRO}-ros-base \
-  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
   python3-rosdep \
   && rm -rf /var/lib/apt/lists/*
 
+# Cyclone DDS
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+  && rm -rf /var/lib/apt/lists/*
 COPY cyclonedds.xml /etc/cyclonedds.xml 
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update

From a08160bfcde278a89c2624e0d3ee1cce6564a878 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 3 Mar 2026 18:31:29 +0000
Subject: [PATCH 05/24] ci: maybe apt clean will fix this?

---
 base.dockerfile | 3 ++-
 cuda.dockerfile | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index d872173..adda351 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -10,7 +10,8 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+RUN apt-get clean && rm -rf /var/cache/apt/archives/* &&\
+    apt-get update && apt-get upgrade -y && apt-get install -y \
     build-essential \
     ca-certificates \
     cmake \
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 3b591bc..1a228d8 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -12,7 +12,8 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 ENV DEBIAN_FRONTEND=noninteractive
 
 # Install language
-RUN apt-get update ; \
+RUN apt-get clean && rm -rf /var/cache/apt/archives/* && \
+  apt-get update ; \
   apt-get upgrade -y && \
   apt-get install -y --no-install-recommends \
   locales \

From 2cd9a89bfcae34f4d777088699e1908fc3f7a7ea Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 3 Mar 2026 18:55:20 +0000
Subject: [PATCH 06/24] fix: update bashrc to work better

---
 base.dockerfile | 3 ++-
 cuda.dockerfile | 3 +++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/base.dockerfile b/base.dockerfile
index adda351..c1e8107 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -47,6 +47,7 @@ COPY cyclonedds.xml /etc/cyclonedds.xml
   
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
+    echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \
     echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
     echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
     echo "alias t='tmux'" >> /etc/bash.bashrc && \
@@ -54,6 +55,6 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
     echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
     echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
 
-USER ros
+USER ${USERNAME}
 CMD ["bash", "-l"]
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 1a228d8..e9b9d52 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -73,6 +73,7 @@ RUN groupadd --gid $USER_GID $USERNAME \
 
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
+  echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \
   echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
   echo "alias t='tmux'" >> /etc/bash.bashrc && \
@@ -90,5 +91,7 @@ ENV VGL_PROBEGLX=0
 ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so
 ENV SHELL=/bin/bash
 
+USER ${USERNAME}
+
 CMD ["bash", "-l"]
 

From 6c3b7edb48d4a8a2166e2c61f283f01bb87a1399 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 14:10:09 +0000
Subject: [PATCH 07/24] ci: fake commit to trigger build

---
 cuda.dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cuda.dockerfile b/cuda.dockerfile
index e9b9d52..86e86fb 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -18,6 +18,7 @@ RUN apt-get clean && rm -rf /var/cache/apt/archives/* && \
   apt-get install -y --no-install-recommends \
   locales \
   curl \
+  wget \
   ca-certificates \
   gnupg2 \
   lsb-release \
@@ -25,7 +26,6 @@ RUN apt-get clean && rm -rf /var/cache/apt/archives/* && \
   nano \
   python3-setuptools \
   software-properties-common \
-  wget \
   tzdata \
   && locale-gen en_US.UTF-8 \
   && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \

From ebc991f74da78814a39e2158872d6304b04bf599 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 14:21:19 +0000
Subject: [PATCH 08/24] chore: mv cyclone install to same block

---
 base.dockerfile | 28 ++++++++++++++--------------
 cuda.dockerfile |  6 ++----
 2 files changed, 16 insertions(+), 18 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index c1e8107..f9127e3 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -11,7 +11,9 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get clean && rm -rf /var/cache/apt/archives/* &&\
-    apt-get update && apt-get upgrade -y && apt-get install -y \
+    apt-get update && apt-get upgrade -y
+
+RUN apt-get install -y \
     build-essential \
     ca-certificates \
     cmake \
@@ -20,9 +22,10 @@ RUN apt-get clean && rm -rf /var/cache/apt/archives/* &&\
     wget \
     unzip \
     ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions \
     && rm -rf /var/lib/apt/lists/*
-    
+
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
 ARG USERNAME=ros
@@ -31,20 +34,17 @@ ARG USER_GID=$USER_UID
 
 # Create a non-root user
 RUN groupadd --gid $USER_GID $USERNAME \
-  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-  # Add sudo support for the non-root user
-  && apt-get update \
-  && apt-get install -y --no-install-recommends sudo \
-  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-  && chmod 0440 /etc/sudoers.d/$USERNAME \
-  && rm -rf /var/lib/apt/lists/*
-
-# Cyclone DDS
-RUN apt-get update && apt-get upgrade -y && apt-get install -y \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    # Add sudo support for the non-root user
+    && apt-get update \
+    && apt-get install -y --no-install-recommends sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
     && rm -rf /var/lib/apt/lists/*
+
+# Cyclone DDS Config
 COPY cyclonedds.xml /etc/cyclonedds.xml 
-  
+
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
     echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 86e86fb..fab521e 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -42,12 +42,10 @@ RUN add-apt-repository universe \
 RUN apt-get update && apt-get install -y --no-install-recommends \
   ros-${ROS_DISTRO}-ros-base \
   python3-rosdep \
-  && rm -rf /var/lib/apt/lists/*
-
-# Cyclone DDS
-RUN apt-get update && apt-get upgrade -y && apt-get install -y \
   ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
   && rm -rf /var/lib/apt/lists/*
+
+# Cyclone DDS Config
 COPY cyclonedds.xml /etc/cyclonedds.xml 
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update

From 06e09a594aba6730ebf1c12f6d990fbd9fd7ab04 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 14:32:43 +0000
Subject: [PATCH 09/24] fix: dont clean first!

---
 base.dockerfile | 11 +++++------
 cuda.dockerfile |  8 +++++---
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index f9127e3..c70205a 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -10,10 +10,8 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get clean && rm -rf /var/cache/apt/archives/* &&\
-    apt-get update && apt-get upgrade -y
-
-RUN apt-get install -y \
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install -y \
     build-essential \
     ca-certificates \
     cmake \
@@ -23,8 +21,9 @@ RUN apt-get install -y \
     unzip \
     ros-${ROS_DISTRO}-ros-base \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-    python3-colcon-common-extensions \
-    && rm -rf /var/lib/apt/lists/*
+    python3-colcon-common-extensions && \
+    rm -rf /var/lib/apt/lists/*  && \
+    apt-get clean && rm -rf /var/cache/apt/archives/*
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index fab521e..ff28e4e 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -12,8 +12,7 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 ENV DEBIAN_FRONTEND=noninteractive
 
 # Install language
-RUN apt-get clean && rm -rf /var/cache/apt/archives/* && \
-  apt-get update ; \
+RUN apt-get update && \
   apt-get upgrade -y && \
   apt-get install -y --no-install-recommends \
   locales \
@@ -29,7 +28,10 @@ RUN apt-get clean && rm -rf /var/cache/apt/archives/* && \
   tzdata \
   && locale-gen en_US.UTF-8 \
   && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
-  && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/* \
+  && apt-get clean \
+  && rm -rf /var/cache/apt/archives/*
+  
 ENV LANG=en_US.UTF-8
 
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

From 7985f607645490fb6907a89a8ddb616755c01689 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 14:45:21 +0000
Subject: [PATCH 10/24] ci: disable cache and dont apt clean

---
 .github/workflows/_build-image.yaml | 2 +-
 base.dockerfile                     | 3 +--
 cuda.dockerfile                     | 6 ++----
 3 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index 23832aa..8511ac4 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -73,7 +73,7 @@ jobs:
           file: ./${{ inputs.dockerfile }}
           platforms: ${{ inputs.architectures }}
           push: true
-          cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
+          # cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
           cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
diff --git a/base.dockerfile b/base.dockerfile
index c70205a..4ff3299 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -22,8 +22,7 @@ RUN apt-get update && apt-get upgrade -y && \
     ros-${ROS_DISTRO}-ros-base \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions && \
-    rm -rf /var/lib/apt/lists/*  && \
-    apt-get clean && rm -rf /var/cache/apt/archives/*
+    rm -rf /var/lib/apt/lists/*
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index ff28e4e..a102a69 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -28,10 +28,8 @@ RUN apt-get update && \
   tzdata \
   && locale-gen en_US.UTF-8 \
   && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
-  && rm -rf /var/lib/apt/lists/* \
-  && apt-get clean \
-  && rm -rf /var/cache/apt/archives/*
-  
+  && rm -rf /var/lib/apt/lists/*
+
 ENV LANG=en_US.UTF-8
 
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

From 178364b6013cb1d3a2cb2dceb3e464dbdebd4d9c Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 14:53:43 +0000
Subject: [PATCH 11/24] fix: update package installation to include locale
 settings

---
 base.dockerfile | 13 ++++++++++---
 cuda.dockerfile | 15 +++++++--------
 2 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 4ff3299..dbf45a1 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -10,8 +10,11 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get update && apt-get upgrade -y && \
-    apt-get install -y \
+RUN apt-get update || true \
+    && apt-get install -y --no-install-recommends gnupg ca-certificates \
+    && apt-get update \
+    && apt-get upgrade -y \
+    apt-get install -y --no-install-recommends \
     build-essential \
     ca-certificates \
     cmake \
@@ -22,7 +25,11 @@ RUN apt-get update && apt-get upgrade -y && \
     ros-${ROS_DISTRO}-ros-base \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions && \
-    rm -rf /var/lib/apt/lists/*
+    rm -rf /var/lib/apt/lists/* \
+    && locale-gen en_GB.UTF-8 \
+    && update-locale LC_ALL=en_GB.UTF-8 LANG=en_GB.UTF-8 \
+    && rm -rf /var/lib/apt/lists/*
+
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index a102a69..340ab5e 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -11,9 +11,10 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Install language
-RUN apt-get update && \
-  apt-get upgrade -y && \
+RUN apt-get update || true \
+  && apt-get install -y --no-install-recommends gnupg ca-certificates \
+  && apt-get update \
+  && apt-get upgrade -y \
   apt-get install -y --no-install-recommends \
   locales \
   curl \
@@ -26,13 +27,11 @@ RUN apt-get update && \
   python3-setuptools \
   software-properties-common \
   tzdata \
-  && locale-gen en_US.UTF-8 \
-  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && locale-gen en_GB.UTF-8 \
+  && update-locale LC_ALL=en_GB.UTF-8 LANG=en_GB.UTF-8 \
   && rm -rf /var/lib/apt/lists/*
 
-ENV LANG=en_US.UTF-8
-
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+ENV LANG=en_GB.UTF-8
 
 # Prepare ROS2
 RUN add-apt-repository universe \

From 4d94d356a857fd508c999486e956b7a0a0a26d7f Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 15:15:04 +0000
Subject: [PATCH 12/24] ci: fix this time i hope

---
 base.dockerfile | 8 ++++----
 cuda.dockerfile | 5 +++--
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index dbf45a1..a307b4a 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -13,8 +13,9 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update || true \
     && apt-get install -y --no-install-recommends gnupg ca-certificates \
     && apt-get update \
-    && apt-get upgrade -y \
-    apt-get install -y --no-install-recommends \
+    && apt-get upgrade -y
+
+RUN apt-get install -y --no-install-recommends \
     build-essential \
     ca-certificates \
     cmake \
@@ -26,10 +27,9 @@ RUN apt-get update || true \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions && \
     rm -rf /var/lib/apt/lists/* \
-    && locale-gen en_GB.UTF-8 \
-    && update-locale LC_ALL=en_GB.UTF-8 LANG=en_GB.UTF-8 \
     && rm -rf /var/lib/apt/lists/*
 
+ENV LANG=en_GB.UTF-8
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 340ab5e..c71b525 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -14,8 +14,9 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update || true \
   && apt-get install -y --no-install-recommends gnupg ca-certificates \
   && apt-get update \
-  && apt-get upgrade -y \
-  apt-get install -y --no-install-recommends \
+  && apt-get upgrade -y
+
+RUN apt-get install -y --no-install-recommends \
   locales \
   curl \
   wget \

From 53690bb9597ade3a866201878b19747660ad961c Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 15:55:06 +0000
Subject: [PATCH 13/24] ci: come on, disable cache

---
 .github/workflows/_build-image.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index 8511ac4..7471c18 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -73,8 +73,9 @@ jobs:
           file: ./${{ inputs.dockerfile }}
           platforms: ${{ inputs.architectures }}
           push: true
+          no-cache:      true
           # cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
-          cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
+          # cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           build-args: |

From c47814cbdbd761424cc72cdf4ceb4170148f8c30 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Mon, 9 Mar 2026 16:45:44 +0000
Subject: [PATCH 14/24] fix: update locale settings to use en_US.UTF-8

---
 .github/workflows/docker-build-and-push.yaml | 2 +-
 base.dockerfile                              | 2 +-
 cuda.dockerfile                              | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index f2c6942..c8f090b 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -37,7 +37,7 @@ jobs:
     with:
       base_image:    nvidia/cuda:11.8.0-runtime-ubuntu22.04
       push_image:    ros_cuda
-      ros_distro:      humble
+      ros_distro:    humble
       dockerfile:    cuda.dockerfile
       architectures: linux/amd64
     secrets: inherit
diff --git a/base.dockerfile b/base.dockerfile
index a307b4a..81dec92 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -29,7 +29,7 @@ RUN apt-get install -y --no-install-recommends \
     rm -rf /var/lib/apt/lists/* \
     && rm -rf /var/lib/apt/lists/*
 
-ENV LANG=en_GB.UTF-8
+ENV LANG=en_US.UTF-8
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
 
diff --git a/cuda.dockerfile b/cuda.dockerfile
index c71b525..487dade 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -28,11 +28,11 @@ RUN apt-get install -y --no-install-recommends \
   python3-setuptools \
   software-properties-common \
   tzdata \
-  && locale-gen en_GB.UTF-8 \
-  && update-locale LC_ALL=en_GB.UTF-8 LANG=en_GB.UTF-8 \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
   && rm -rf /var/lib/apt/lists/*
 
-ENV LANG=en_GB.UTF-8
+ENV LANG=en_US.UTF-8
 
 # Prepare ROS2
 RUN add-apt-repository universe \

From 1b7b052084ee828afb5c5e1d8d771145097466b4 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 10 Mar 2026 12:01:53 +0000
Subject: [PATCH 15/24] ci: add docker pull step

---
 .github/workflows/_build-image.yaml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index 7471c18..f14258c 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -46,6 +46,9 @@ jobs:
           username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
           password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
 
+      - name: Pull base image
+        run: docker pull ${{ inputs.base_image }}
+
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v5
@@ -73,11 +76,11 @@ jobs:
           file: ./${{ inputs.dockerfile }}
           platforms: ${{ inputs.architectures }}
           push: true
-          no-cache:      true
+          no-cache: true
           # cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
           # cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           build-args: |
             BASE_IMAGE=${{ inputs.base_image }}
-            ROS_DISTRO=${{ inputs.ros_distro }}
\ No newline at end of file
+            ROS_DISTRO=${{ inputs.ros_distro }}

From e86b3a716aa440eba7693b0ad537166c4ccb3186 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 10 Mar 2026 12:25:43 +0000
Subject: [PATCH 16/24] ci: change tags to a newer cuda tag

---
 .github/workflows/docker-build-and-push.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index c8f090b..baaecf0 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -35,7 +35,7 @@ jobs:
   ros-cuda-humble:
     uses: ./.github/workflows/_build-image.yaml
     with:
-      base_image:    nvidia/cuda:11.8.0-runtime-ubuntu22.04
+      base_image:    nvidia/cuda:11.8.0-devel-ubuntu22.04
       push_image:    ros_cuda
       ros_distro:    humble
       dockerfile:    cuda.dockerfile
@@ -45,7 +45,7 @@ jobs:
   ros-cuda-jazzy:
     uses: ./.github/workflows/_build-image.yaml
     with:
-      base_image:    nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
+      base_image:    nvidia/cuda:12.9.1-devel-ubuntu24.04
       push_image:    ros_cuda
       ros_distro:    jazzy
       dockerfile:    cuda.dockerfile

From a814a5e8614fbd1702fb55109ddc5099d6873d36 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Tue, 10 Mar 2026 18:49:49 +0000
Subject: [PATCH 17/24] ci: debugging

---
 .github/workflows/_build-image.yaml | 3 +++
 cuda.dockerfile                     | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index f14258c..2840cf8 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -49,6 +49,9 @@ jobs:
       - name: Pull base image
         run: docker pull ${{ inputs.base_image }}
 
+      - name: Debug - Echo Date
+        run: date
+
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v5
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 487dade..662a468 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04
+ARG BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04
 ARG ROS_DISTRO=humble
 
 ###########################################

From 0b2f00ac4f613e2b8a6e90c5d95eb7b8c59785ed Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshua@joshuacooper.co.uk>
Date: Wed, 11 Mar 2026 18:20:44 +0000
Subject: [PATCH 18/24] ci: clean up and try again

---
 base.dockerfile | 10 ++++------
 cuda.dockerfile | 10 +++-------
 2 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 81dec92..acde641 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -10,14 +10,12 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get update || true \
-    && apt-get install -y --no-install-recommends gnupg ca-certificates \
-    && apt-get update \
-    && apt-get upgrade -y
-
-RUN apt-get install -y --no-install-recommends \
+RUN apt-get update \
+    && apt-get upgrade -y && \
+    apt-get install -y --no-install-recommends \
     build-essential \
     ca-certificates \
+    gnupg \
     cmake \
     git \
     curl \
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 662a468..cb05f5a 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -11,12 +11,9 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get update || true \
-  && apt-get install -y --no-install-recommends gnupg ca-certificates \
-  && apt-get update \
-  && apt-get upgrade -y
-
-RUN apt-get install -y --no-install-recommends \
+RUN apt-get update \
+  && apt-get upgrade -y \
+  && apt-get install -y --no-install-recommends \
   locales \
   curl \
   wget \
@@ -92,4 +89,3 @@ ENV SHELL=/bin/bash
 USER ${USERNAME}
 
 CMD ["bash", "-l"]
-

From e3e0429f628da8f53dc1ee0b6e241f642b9e36e4 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshua@joshuacooper.co.uk>
Date: Fri, 13 Mar 2026 09:47:20 +0000
Subject: [PATCH 19/24] fix: run as sudo for updates in desktop

 As we are running at the previous container out as the standard user and not root
---
 .github/workflows/_build-image.yaml | 5 ++---
 cuda_desktop.dockerfile             | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index 2840cf8..e9f46b7 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -79,9 +79,8 @@ jobs:
           file: ./${{ inputs.dockerfile }}
           platforms: ${{ inputs.architectures }}
           push: true
-          no-cache: true
-          # cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
-          # cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
+          cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
+          cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           build-args: |
diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile
index 9e36983..27bbccd 100644
--- a/cuda_desktop.dockerfile
+++ b/cuda_desktop.dockerfile
@@ -3,6 +3,6 @@ ARG BASE_IMAGE
 ###########################################
 FROM ${BASE_IMAGE} AS base
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-desktop \
     && rm -rf /var/lib/apt/lists/*

From de5636ec14e259ccb3f31ee5996ac1b1ea1b2ed1 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshua@joshuacooper.co.uk>
Date: Fri, 13 Mar 2026 10:39:28 +0000
Subject: [PATCH 20/24] fix: rm as sudo

---
 cuda_desktop.dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile
index 27bbccd..7c93fb1 100644
--- a/cuda_desktop.dockerfile
+++ b/cuda_desktop.dockerfile
@@ -5,4 +5,4 @@ FROM ${BASE_IMAGE} AS base
 
 RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-desktop \
-    && rm -rf /var/lib/apt/lists/*
+    && sudo rm -rf /var/lib/apt/lists/*

From 001de9c9591b3a1abe93b5ef8ab4b87b80a5fd2a Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshua@joshuacooper.co.uk>
Date: Fri, 13 Mar 2026 11:05:59 +0000
Subject: [PATCH 21/24] ci: undo changes from when the runners broke

---
 .github/workflows/_build-image.yaml          | 3 ---
 .github/workflows/docker-build-and-push.yaml | 4 ++--
 cuda.dockerfile                              | 2 +-
 cuda_desktop.dockerfile                      | 2 +-
 4 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index e9f46b7..80c2ebd 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -49,9 +49,6 @@ jobs:
       - name: Pull base image
         run: docker pull ${{ inputs.base_image }}
 
-      - name: Debug - Echo Date
-        run: date
-
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v5
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index baaecf0..407675f 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -35,7 +35,7 @@ jobs:
   ros-cuda-humble:
     uses: ./.github/workflows/_build-image.yaml
     with:
-      base_image:    nvidia/cuda:11.8.0-devel-ubuntu22.04
+      base_image:    nvidia/cuda:11.8.0-runtime-ubuntu22.04
       push_image:    ros_cuda
       ros_distro:    humble
       dockerfile:    cuda.dockerfile
@@ -45,7 +45,7 @@ jobs:
   ros-cuda-jazzy:
     uses: ./.github/workflows/_build-image.yaml
     with:
-      base_image:    nvidia/cuda:12.9.1-devel-ubuntu24.04
+      base_image:    nvidia/cuda:12.9.1-runtime-ubuntu24.04
       push_image:    ros_cuda
       ros_distro:    jazzy
       dockerfile:    cuda.dockerfile
diff --git a/cuda.dockerfile b/cuda.dockerfile
index cb05f5a..5c7480a 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=nvidia/cuda:11.8.0-devel-ubuntu22.04
+ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04
 ARG ROS_DISTRO=humble
 
 ###########################################
diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile
index 7c93fb1..30e7907 100644
--- a/cuda_desktop.dockerfile
+++ b/cuda_desktop.dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/ros_cuda:humble-main
 
 ###########################################
 FROM ${BASE_IMAGE} AS base

From 30d3e7bb4c8d8ffd748e8f2ea96dbac0c3fb93ab Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Fri, 13 Mar 2026 11:31:46 +0000
Subject: [PATCH 22/24] Apply suggestions from code review

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
---
 base.dockerfile | 5 ++---
 cuda.dockerfile | 8 +++++---
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index acde641..84692fa 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -24,8 +24,7 @@ RUN apt-get update \
     ros-${ROS_DISTRO}-ros-base \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     python3-colcon-common-extensions && \
-    rm -rf /var/lib/apt/lists/* \
-    && rm -rf /var/lib/apt/lists/*
+    rm -rf /var/lib/apt/lists/*
 
 ENV LANG=en_US.UTF-8
 
@@ -46,7 +45,7 @@ RUN groupadd --gid $USER_GID $USERNAME \
     && rm -rf /var/lib/apt/lists/*
 
 # Cyclone DDS Config
-COPY cyclonedds.xml /etc/cyclonedds.xml 
+COPY cyclonedds.xml /etc/cyclonedds.xml
 
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 5c7480a..e86ce21 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -43,7 +43,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   && rm -rf /var/lib/apt/lists/*
 
 # Cyclone DDS Config
-COPY cyclonedds.xml /etc/cyclonedds.xml 
+COPY cyclonedds.xml /etc/cyclonedds.xml
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
 
@@ -73,9 +73,11 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
   echo "alias t='tmux'" >> /etc/bash.bashrc && \
   echo "alias cls='clear'" >> /etc/bash.bashrc && \
-  echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
-  echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
+  echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
+  echo "export CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
 
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml
 ENV TVNC_VGL=1
 ENV VGL_ISACTIVE=1
 ENV VGL_FPS=25

From 730adf86f5f1cb8090b1b8562e79ab4e454d3acb Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshua@joshuacooper.co.uk>
Date: Fri, 13 Mar 2026 12:35:25 +0000
Subject: [PATCH 23/24] fix: move the env for RMW and Cyclone into actual ENVs

---
 base.dockerfile | 7 ++++---
 cuda.dockerfile | 6 ++----
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 84692fa..76b723e 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -53,9 +53,10 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
     echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
     echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
     echo "alias t='tmux'" >> /etc/bash.bashrc && \
-    echo "alias cls='clear'" >> /etc/bash.bashrc && \
-    echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
-    echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
+    echo "alias cls='clear'" >> /etc/bash.bashrc
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml
 
 USER ${USERNAME}
 CMD ["bash", "-l"]
diff --git a/cuda.dockerfile b/cuda.dockerfile
index e86ce21..3312b1c 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -72,10 +72,8 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
   echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
   echo "alias t='tmux'" >> /etc/bash.bashrc && \
-  echo "alias cls='clear'" >> /etc/bash.bashrc && \
-  echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
-  echo "export CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc
-
+  echo "alias cls='clear'" >> /etc/bash.bashrc
+  
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml
 ENV TVNC_VGL=1

From c761948ac16972d7ee6ad52952e5bb4db403ae39 Mon Sep 17 00:00:00 2001
From: Josh Cooper <joshcooper@lincoln.ac.uk>
Date: Fri, 13 Mar 2026 14:00:36 +0000
Subject: [PATCH 24/24] Apply suggestions from code review

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
---
 base.dockerfile | 6 +++---
 cuda.dockerfile | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/base.dockerfile b/base.dockerfile
index 76b723e..1e9ead5 100644
--- a/base.dockerfile
+++ b/base.dockerfile
@@ -34,10 +34,9 @@ ARG USERNAME=ros
 ARG USER_UID=1001
 ARG USER_GID=$USER_UID
 
-# Create a non-root user
+# Create a non-root user and add sudo support for the non-root user
 RUN groupadd --gid $USER_GID $USERNAME \
     && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    # Add sudo support for the non-root user
     && apt-get update \
     && apt-get install -y --no-install-recommends sudo \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
@@ -53,7 +52,8 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
     echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
     echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
     echo "alias t='tmux'" >> /etc/bash.bashrc && \
-    echo "alias cls='clear'" >> /etc/bash.bashrc
+    echo "alias cls='clear'" >> /etc/bash.bashrc && \
+    chown ${USERNAME}:${USER_GID} /home/${USERNAME}/.bashrc
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml
diff --git a/cuda.dockerfile b/cuda.dockerfile
index 3312b1c..0a4e2ec 100644
--- a/cuda.dockerfile
+++ b/cuda.dockerfile
@@ -69,6 +69,7 @@ RUN groupadd --gid $USER_GID $USERNAME \
 # Configure bash profile
 RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
   echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \
+  chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bashrc && \
   echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
   echo "alias t='tmux'" >> /etc/bash.bashrc && \