From d47acbd8b64e346b84b72fd76702c852a9df3385 Mon Sep 17 00:00:00 2001
From: Isaac Saito <130s@2000.jukuin.keio.ac.jp>
Date: Sat, 9 Sep 2023 14:36:37 -0400
Subject: [PATCH 1/2] Feature: Option to take Docker image

Signed-off-by: Isaac Saito <130s@2000.jukuin.keio.ac.jp>
---
 build.bash        | 3 ++-
 humble/Dockerfile | 6 ++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/build.bash b/build.bash
index 68058df..05327b9 100755
--- a/build.bash
+++ b/build.bash
@@ -20,6 +20,7 @@
 # Builds a Docker image.
 image_name=dockwater
 distro=$(basename $1)
+image_base=${2:-ros:$distro-ros-base-jammy}
 
 if [ $# -lt 1 ]
 then
@@ -34,7 +35,7 @@ then
 fi
 
 image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
-docker build --rm -t $image_plus_tag -f "${1}"/Dockerfile "${1}" && \
+docker build --rm --build-arg BASE_IMG=$image_base -t $image_plus_tag -f "${1}"/Dockerfile "${1}" && \
 docker tag $image_plus_tag $image_name:$distro && \
 echo "Built $image_plus_tag and tagged as $image_name:$distro"
 echo "To run:"
diff --git a/humble/Dockerfile b/humble/Dockerfile
index d3f3c0f..cdf0a6e 100644
--- a/humble/Dockerfile
+++ b/humble/Dockerfile
@@ -1,5 +1,7 @@
+ARG BASE_IMG=ros:humble-ros-base-jammy
+
 # Ubuntu 22.04 
-FROM ros:humble-ros-base-jammy
+FROM $BASE_IMG
 
 # Setup timezone
 ENV TZ=Etc/UTC
@@ -37,7 +39,7 @@ RUN apt update && \
 	pkg-config \
         protobuf-compiler \
         python3-dbg \
-        python3-empy \
+ros:$distro-ros-base-jammy        python3-empy \
         python3-numpy \
         python3-setuptools \
         python3-pip \

From b42a77f52f0e6af48fc27b64282785c772ad4749 Mon Sep 17 00:00:00 2001
From: Isaac Saito <130s@2000.jukuin.keio.ac.jp>
Date: Sat, 9 Sep 2023 14:39:27 -0400
Subject: [PATCH 2/2] Improve: ros-desktop is really needed?

Signed-off-by: Isaac Saito <130s@2000.jukuin.keio.ac.jp>
---
 humble/Dockerfile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/humble/Dockerfile b/humble/Dockerfile
index cdf0a6e..3d93dfc 100644
--- a/humble/Dockerfile
+++ b/humble/Dockerfile
@@ -69,8 +69,8 @@ RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share
 RUN apt update \
   && apt install -y --no-install-recommends \
      gz-${GZDIST} \
-     ros-${ROSDIST}-desktop \
-  && rm -rf /var/lib/apt/lists/* \
+     ros-${ROSDIST}-ros-base \
+     && rm -rf /var/lib/apt/lists/* \
   && apt clean -qq
 
 # Install some 'standard' ROS packages and utilities.