Docker kapsayıcısında ROS2 çalışma alanı oluştur -- ament_cmake bulunamıyor

Bunun gibi bir ROS2 çalışma alanı projem var:

├── build-in-docker
├── docker
│   ├── build
│   ├── Dockerfile
│   └── env
└── src

docker/env ortam değişkenlerine sahiptir:

#!/bin/bash

NOC='\033[0m'
GRN='\033[0;32m'
YLW='\033[0;33m'

image_name="docker-build-ros2"
container_name="ros2-ws"
target_path="/ros2-ws"

ve docker/Dockerfile içeriğe sahip:

# syntax=docker/dockerfile:experimental

# prepare the docker   -----------------
FROM ubuntu:20.04
ARG DEBIAN_FRONTEND=noninteractive
# By default, ubuntu docker images include code to remove downloaded packages.
# Use the invocation from examples to avoid this and make the apt cache effective.
RUN rm -f /etc/apt/apt.conf.d/docker-clean \
    && echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' \
    > /etc/apt/apt.conf.d/keep-cache

ENV ROS_PYTHON_VERSION 3
RUN apt-get update && apt-get install -y locales
RUN locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8

# run export DOCKER_BUILDKIT=1 to enable BuildKit
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt,sharing=locked \
    apt-get update && apt-get --no-install-recommends install -y \
    autoconf bash-completion build-essential cmake curl \
    dirmngr gcc git gnupg2 g++ libtool lsb-release \
    pkg-config python3-pip libccd-dev \
    libflann-dev libpcl-dev libyaml-cpp-dev \
    && pip3 install cython \
    && rm -rf /var/lib/apt/lists/*

RUN export LANG=en_US.UTF-8

RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
    --mount=type=cache,target=/var/lib/apt,sharing=locked \
    apt-get update && apt-get --no-install-recommends install -y \
    ros-foxy-desktop \
    python3-argcomplete \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

RUN rosdep init || true \
    && rosdep update

RUN echo "source /opt/ros/foxy/setup.bash" >> /etc/bash.bashrc
RUN echo "source /opt/ros/foxy/local_setup.bash" >> /etc/bash.bashrc

Sonra, kullanacağım build-in-docker ROS2 çalışma alanını oluşturmak için komut dosyası build-in-docker içeriğe sahip:

#!/bin/bash
set -eu -o pipefail

script_dir="$(dirname "$0")"
pushd "$script_dir" &>/dev/null

source "$script_dir/docker/env"

# stop the container if it is running ------------------------
if [[ $(docker ps --filter "name=^/${container_name}$" --format '{{.Names}}') == "${container_name}" &&
"$(docker container inspect -f '{{.State.Running}}' ${container_name})" == "true" ]]; then
    echo -e "${YLW}Stop container \"${container_name}\"${NOC} ..."
    docker stop ${container_name}
fi

# remove the container if it exists but not running ------------------------
if [[ $(docker ps --filter "name=^/${container_name}$" --format '{{.Names}}') == "${container_name}" ]]; then
    echo -e "${YLW}Remove container \"${container_name}\"${NOC} ..."
    docker rm ${container_name} &>/dev/null
fi

# build an image from Dockerfile ------------------------
echo -e "${GRN}Build the image \"${image_name}\"${NOC} ..."
DOCKER_BUILDKIT=1 docker build \
    -t ${image_name} \
    -f docker/Dockerfile docker

# create a container and run it ------------------------
echo -e "${GRN}Run container \"${container_name}\" from image \"${image_name}\"${NOC} ..."
docker run -d -it --rm \
    --name ${container_name} \
    --mount type=bind,source="$(pwd)",target=${target_path} \
    ${image_name}

# build the project in the container ------------------------
# ${target_path} ${build_dir}: arguments passed into ./docker/build
echo -e "${GRN}Build the project${NOC} ..."
docker exec ${container_name} ${target_path}/docker/build \
    ${target_path}

# finish
echo -e "${GRN}Project is build successfully.${NOC}"
popd &>/dev/null

hangi aramalar docker/build senaryo:

#!/bin/bash
set -eu -o pipefail

# project root directory, passed from ../build-in-docker
cd "$1"

/bin/bash -c "source /opt/ros/foxy/setup.bash"

colcon build

Ancak, bana hata veriyor:

Stop container "ros2-ws" ...
ros2-ws
Build the image "docker-build-ros2" ...
[+] Building 0.7s (18/18) FINISHED                                                     
 => [internal] load build definition from Dockerfile                              0.0s
 => => transferring dockerfile: 38B                                               0.0s
 => [internal] load .dockerignore                                                 0.0s
 => => transferring context: 2B                                                   0.0s
 => resolve image config for docker.io/docker/dockerfile:experimental             0.1s
 => CACHED docker-image://docker.io/docker/dockerfile:experimental@sha256:600e5c  0.0s
 => [internal] load metadata for docker.io/library/ubuntu:20.04                   0.1s
 => [stage-0  1/12] FROM docker.io/library/ubuntu:20.04@sha256:626ffe58f6e7566e0  0.0s
 => CACHED [stage-0  2/12] RUN rm -f /etc/apt/apt.conf.d/docker-clean     && ech  0.0s
 => CACHED [stage-0  3/12] RUN apt-get update && apt-get install -y locales       0.0s
 => CACHED [stage-0  4/12] RUN locale-gen en_US.UTF-8                             0.0s
 => CACHED [stage-0  5/12] RUN --mount=type=cache,target=/var/cache/apt,sharing=  0.0s
 => CACHED [stage-0  6/12] RUN export LANG=en_US.UTF-8                            0.0s
 => CACHED [stage-0  7/12] RUN curl -s https://raw.githubusercontent.com/ros/ros  0.0s
 => CACHED [stage-0  8/12] RUN sh -c 'echo "deb [arch=$(dpkg --print-architectur  0.0s
 => CACHED [stage-0  9/12] RUN --mount=type=cache,target=/var/cache/apt,sharing=  0.0s
 => CACHED [stage-0 10/12] RUN rosdep init || true     && rosdep update           0.0s
 => CACHED [stage-0 11/12] RUN echo "source /opt/ros/foxy/setup.bash" >> /etc/ba  0.0s
 => CACHED [stage-0 12/12] RUN echo "source /opt/ros/foxy/local_setup.bash" >> /  0.0s
 => exporting to image                                                            0.0s
 => => exporting layers                                                           0.0s
 => => writing image sha256:9af6dcfcf4fa94cec435a91fd48218c6b83c730aada6de85cc86  0.0s
 => => naming to docker.io/library/docker-build-ros2                              0.0s
Run container "ros2-ws" from image "docker-build-ros2" ...
ff1545051e411035142315215ab385d74627d7de65e79a22ec12b0c59f656790
Build the project ...
Starting >>> agv_interfaces
--- stderr: agv_interfaces
CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< agv_interfaces [0.07s, exited with code 1]

Summary: 0 packages finished [0.26s]
  1 package failed: agv_interfaces
  1 package had stderr output: agv_interfaces
  1 package not processed

Ancak, konteynere manuel olarak girersem docker attach komutu verin ve dizini manuel olarak girin ve ardından çalışma alanını kullanarak oluşturun colcon build yapı başarılı olur. Bundan sonra, eğer tekrar koşarsam ./build-in-docker yerel olarak, worspace başarıyla oluşturulabilir.

Sorum şu ki, ilk çalıştırmadan çalışma alanını oluşturamamam için hangi ayarı yanlış yaptım ./build-in-docker komuta mı?