Switched to moveit's own dockerfile and fixed dependency repos (#16)

* Fixed dockerfile and dependencies. Middlewares were added as dependencies. (rmw_fastrtps, rmw_zenoh, rmw_cyclonedds)

* Used moveit's own docker image instead of building it

* Used moveit's latest rolling docker image
* re-edited underlay workspace in dockerfile

* Changed workspace dirs in dockerfile with moveit docker's own underlay workspace alias

Dockerfile

@@ -1,25 +1,22 @@
-FROM ros:rolling
+FROM moveit/moveit2:rolling-source
 
 RUN apt-get update && \
     apt install wget -y
 
 RUN mkdir ws/src -p
 
 RUN . /opt/ros/rolling/setup.sh && \
-    cd ws/src && \
-    git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git -b development && \
+    cd ${ROS_UNDERLAY}/../src && \
+    git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git && \
     vcs import < moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive
 
-RUN cd ws/src && \
-    # git clone https://github.com/ros2/rmw_zenoh.git && \
-    git clone https://github.com/ros2/rmw_cyclonedds.git
-
 RUN . /opt/ros/rolling/setup.sh && \
-    cd ws && \
+    cd ${ROS_UNDERLAY}/.. && \
     rosdep update --rosdistro=$ROS_DISTRO && \
     apt-get update && \
+    apt upgrade -y && \
     rosdep install --from-paths src --ignore-src -r -y
 
 RUN . /opt/ros/rolling/setup.sh && \
-    cd ws && \
+    cd ${ROS_UNDERLAY}/.. && \
     colcon build --mixin release --packages-skip test_dynmsg dynmsg_demo

moveit_middleware_benchmark.repos

@@ -1,8 +1,4 @@
 repositories:
-  moveit_msgs:
-    type: git
-    url: https://github.com/moveit/moveit2.git
-    version: main
   moveit_resources:
     type: git
     url: https://github.com/moveit/moveit_resources.git
@@ -11,6 +7,14 @@ repositories:
     type: git
     url: https://github.com/ros2/rmw_zenoh.git
     version: rolling
+  rmw_cyclonedds:
+    type: git
+    url: https://github.com/ros2/rmw_cyclonedds.git
+    version: rolling
+  rmw_fastrtps:
+    type: git
+    url: https://github.com/ros2/rmw_fastrtps.git
+    version: rolling
   dynamic_message_introspection:
     type: git
     url: https://github.com/osrf/dynamic_message_introspection.git