@franklinselva built this on top of your changes as a sanity check. Things look good!

@eholum I think the space robots Mars Demo doesn't involve Moveit2. Am I wrong? It can run the demos using core images and a few control libraries. space-ros/space-ros#196 and space-ros/demos#31 are the related issues and PR. The robot demo on my end is 1.2 GB in size from the PR.

@eholum

I went through the changes and I could see a couple of areas we could improve and restrategize the way the moveit2 image is built. I am listing them below.

• VCS_REF should not alter the existing vcs-ref anymore since it links the reference from the main repository. I would prefer adding a new metadata label like stack-vcs-ref to differentiate this is a stacked image and still refer to the main reference.
• We can nest some layers together to better cache things.
• We can use the ROS Install generator to generate the dependencies list like moveit2.repos (similar to ros2.repos) to keep the work consistent with the main repository. Currently, the versions of the moveit2 and its dependencies are black boxes unless we look into the image carefully.
• The moveit2 dependencies can be built under /opt/spaceros-stacks/moveit2 with --merge-install to promote the same standards across all the stacks.

What do you think?

@eholum I think the space robots Mars Demo doesn't involve Moveit2.

The mars demo does not (AFAICT) but the Canadarm demo does, at least there's a moveit config and some MSA generated launch files, but the looks of it. I think there are probably bugs there which is why it's not explicitly linked in the docs.

I went through the changes and I could see a couple of areas we could improve and restrategize the way the moveit2 image is built.

Yes definitely! Though I think for the sake of both tracking changes and expediency we should probably keep this with a minimal change set, which might let us get everything in for the Nov release. Does that make sense to you? I'll make some of the minor adjustments you mentioned, though. And will also try to fix the nav2 build after #142 goes in.

I think the same goes for Canadarm2, it has moveit2_config but the canadarm2_demo doesn't use it yet.

I get it. I can take the major changes I mentioned to my plate and not disrupt the release cycle. I think this should help. What do you think?

@eholum Can you please share the new image sizes for the stack images, both moveit2 and nav2?

@eholum Can you please share the new image sizes for the stack images, both moveit2 and nav2?

Yep! Had to rebuild everything fresh but these are significantly smaller than the older images,

docker image ls
REPOSITORY                       TAG       IMAGE ID       CREATED             SIZE
openrobotics/space_robots_demo   latest    ccb64b1442c1   25 seconds ago      10.4GB
openrobotics/moveit2             latest    dbb3dd9dfa78   29 minutes ago      8.2GB
osrf/space_nav2_demo             latest    11fbaee382c9   17 minutes ago      3.65GB
osrf/space_nav2                  latest    181e4736f84f   About an hour ago   3.65GB
osrf/space-ros                   latest    a0a3ace0e0da   2 hours ago         1.05GB
osrf/space-ros                   dev       71dd7ab5976b   2 hours ago         2.27GB

I haven't tried the older versions but from your last comment on the main repository, I can see the moveit2 image now is ~45% smaller.