Update docker image

Dockerfile

 # syntax=docker/dockerfile:1
 
-FROM nvcr.io/nvidia/pytorch:22.12-py3 AS builder
+FROM nvcr.io/nvidia/pytorch:22.12-py3 AS base
 SHELL ["/bin/bash", "-c"]
 WORKDIR /
 RUN echo "Setting up timezone..." && \
@@ -16,26 +16,11 @@ RUN echo "Installing ROS Noetic..." && \
     apt-key add - && \
     apt-get update --fix-missing && \
     apt-get install -y --no-install-recommends \
-    ros-noetic-ros-core ros-noetic-ros-numpy ros-noetic-vision-opencv && \
+    ros-noetic-ros-core ros-noetic-ros-numpy ros-noetic-vision-opencv ros-noetic-hri-msgs && \
     rm -rf /var/lib/apt/lists/* && \
     echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
 
-FROM builder AS requirements
-SHELL ["/bin/bash", "-c"]
-RUN echo "Installing hri_msgs from source..." && \
-    . /opt/ros/noetic/setup.bash && \
-    mkdir -p /home/spring_ws/src && \
-    cd /home/spring_ws/src && \
-    git clone https://github.com/ros4hri/hri_msgs.git && \
-    cd hri_msgs && \
-    git checkout 656369a06488fee4917a6590f90d2c0549659668 && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic .. && \
-    make && \
-    make install
-
-FROM requirements AS compiler
+FROM base AS target
 SHELL ["/bin/bash", "-c"]
 COPY ./entrypoint.sh ./entrypoint.sh
 COPY ./ /home/spring_ws/src/wp4_soft_biometrics_estimation

Dockerfile.jetson

-# # syntax=docker/dockerfile:1
-
-# FROM ros:noetic-pytorch-l4t-r32.4.3 AS builder
-# SHELL ["/bin/bash", "-c"]
-# WORKDIR /
-
-# # Install CUDA 10.2 and CuDNN8
-# RUN apt-get update && apt-get install -y --no-install-recommends gnupg2 ca-certificates && \
-# 	wget https://gitlab.com/nvidia/container-images/l4t-base/-/raw/master/jetson-ota-public.key && \
-# 	apt-key add jetson-ota-public.key
-
-# RUN echo "deb https://repo.download.nvidia.com/jetson/common r32.4 main" >> /etc/apt/sources.list
-# RUN echo "deb https://repo.download.nvidia.com/jetson/t186 r32.4 main" >> /etc/apt/sources.list
-
-# RUN apt-get update && apt-get install -y --no-install-recommends \
-# 	cuda-libraries-10-2 \
-# 	cuda-nvtx-10-2 \
-# 	cuda-libraries-dev-10-2 \
-# 	cuda-minimal-build-10-2 \
-# 	cuda-license-10-2 \
-# 	cuda-command-line-tools-10-2 \
-# 	libcudnn8-dev
-
-# ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs
-
-# RUN echo "Installing pytorch and torchvision..." && \
-#     apt-get update && \
-# 	wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl && \
-# 	pip3 install torch-1.8.0-cp36-cp36m-linux_aarch64.whl && \
-#     git clone --branch v0.9.0 https://github.com/pytorch/vision torchvision && \
-# 	cd torchvision && \
-# 	BUILD_VERSION=0.9.0 python3 setup.py install --user
-
-# FROM builder AS requirements
-# SHELL ["/bin/bash", "-c"]
-# RUN echo "Installing required packages..." && \
-#     apt-get update --fix-missing && \
-#     apt-get install -y --no-install-recommends git
-# RUN git clone https://github.com/eric-wieser/ros_numpy.git && \
-# 	cd ros_numpy/ && \
-# 	python setup.py install
-# RUN echo "Installing hri_msgs from source..." && \
-#     . /opt/ros/noetic/setup.bash && \
-#     mkdir -p /home/spring_ws/src && \
-#     cd /home/spring_ws/src && \
-#     git clone https://github.com/ros4hri/hri_msgs.git && \
-#     cd hri_msgs && \
-#     # https://github.com/ros4hri/hri_msgs/tree/e38e187010e16ed4328c3135e8c9e83e3f10dd96
-#     git checkout e38e187010e16ed4328c3135e8c9e83e3f10dd96 && \
-#     mkdir build && \
-#     cd build && \
-#     cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic .. && \
-#     make && \
-#     make install
-
-# FROM requirements AS compiler
-# SHELL ["/bin/bash", "-c"]
-# COPY ./entrypoint.sh ./entrypoint.sh
-# COPY ./ /home/spring_ws/src/soft-biometrics-estimation
-# RUN echo "Compiling packages..." && \
-#     chmod +x ./entrypoint.sh && \
-#     . /opt/ros/noetic/setup.bash && cd /home/spring_ws && catkin_make && \
-#     echo "source /home/spring_ws/devel/setup.bash" >> ~/.bashrc
-# EXPOSE 11311
-# ENTRYPOINT ["/entrypoint.sh"]
-# CMD ["run"]