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Pull request overview
Adds a production-oriented container build + publish path for ros2_medkit by introducing a multi-stage Docker image (parameterized by ROS_DISTRO) and a GitHub Actions workflow that publishes per-distro images to GHCR on main.
Changes:
- Add a top-level multi-stage
Dockerfilethat builds the full workspace and ships a slim runtime image with an entrypoint to startgateway_node. - Add Docker runtime defaults (
docker/gateway_docker_params.yaml) and an entrypoint script (docker/entrypoint.sh) for container startup/config override. - Add a
docker-publish.ymlworkflow to build and pushjazzy/humble/rollingimages to GHCR, plus a.dockerignorefor smaller contexts.
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated 9 comments.
Show a summary per file
| File | Description |
|---|---|
| Dockerfile | Multi-stage build and runtime image definition for the gateway + open-core packages/plugins. |
| docker/gateway_docker_params.yaml | Default ROS parameters for running the gateway in Docker (host/port/CORS/refresh). |
| docker/entrypoint.sh | Container entrypoint that sources ROS + workspace and runs gateway_node. |
| .github/workflows/docker-publish.yml | GH Actions workflow to build/push GHCR images for each ROS distro. |
| .dockerignore | Reduces Docker build context size by ignoring build artifacts, docs build output, etc. |
mfaferek93
previously approved these changes
Apr 3, 2026
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Multi-stage Docker build (builder + runtime) with ROS_DISTRO build arg for multi-distro support. Includes all open-core packages and plugins. Workflow publishes 3 images on push to main: - ghcr.io/selfpatch/ros2_medkit-jazzy:latest - ghcr.io/selfpatch/ros2_medkit-humble:latest - ghcr.io/selfpatch/ros2_medkit-rolling:latest Default config at /etc/ros2_medkit/params.yaml (overridable via volume mount). External plugins can be mounted at /opt/ros2_medkit/plugins/. Closes #342
Update installation.rst Docker section to reference the published GHCR images instead of pointing to selfpatch_demos only. Rewrite tutorials/docker.rst with current image names, external plugin mounting, Docker Compose example with web UI, and building from source with ROS_DISTRO build arg.
- cpp-httplib: detect system package version, build v0.14.3 from source when system package is missing or too old (humble/Ubuntu 22.04) - Add libcpp-httplib-dev and rosbag2_storage_mcap to rosdep skip-keys (installed separately or not available on all distros) - Fix hardcoded jazzy in source command - use ROS_DISTRO env var - Runtime stage: use minimal runtime libs instead of -dev packages - Add curl for healthcheck support Tested locally: jazzy and humble images build and pass health check.
- Add non-root medkit user in runtime stage for production safety - Remove CORS wildcard default - disabled by default, opt-in via config - Fix entrypoint --ros-args duplication - CMD now includes --ros-args, entrypoint passes args directly without injecting --ros-args - Fix apt-cache show running without apt-get update (stale cache) - Use repository_owner in workflow instead of hardcoded selfpatch - Fix version-info example in docs to use placeholder - Clarify plugin mount comment about explicit path configuration
Move COLCON_WS from /root/ws to /home/medkit/ws in the runtime stage so the medkit user can access the installed workspace. Use COLCON_WS env var in entrypoint instead of hardcoded /root path. Fix docs to reflect CORS being disabled by default.
Add ros2_medkit_gateway.ros__parameters wrapper to the CORS YAML snippet so users who copy-paste it get a working configuration.
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Pull Request
Summary
Add multi-stage Dockerfile and GitHub Actions workflow to publish gateway Docker images to GHCR. Supports all 3 distros via
ROS_DISTRObuild arg.Images published on push to main:
ghcr.io/selfpatch/ros2_medkit-jazzy:latestghcr.io/selfpatch/ros2_medkit-humble:latestghcr.io/selfpatch/ros2_medkit-rolling:latestAll open-core packages and plugins included. External plugins mountable at
/opt/ros2_medkit/plugins/, default config overridable via volume mount at/etc/ros2_medkit/params.yaml.Issue
Type
Testing
docker build -t ros2_medkit:test ./api/v1/healthand/api/v1/version-infoChecklist