generate rosdep package list in the separate step

Dockerfile.hardware

@@ -1,6 +1,37 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
 
+## =========================== rosdep output ===============================
+
+FROM ros:humble-ros-core AS rosdep_output
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+RUN mkdir src
+
+RUN apt-get update && apt-get install -y \
+        python3-pip \
+        python3-rosdep \
+        python3-vcstool \
+        git
+
+RUN git clone --depth 1 -b master https://github.com/husarion/rosbot_xl_ros.git src && \
+    vcs import src < src/rosbot_xl/rosbot_xl_hardware.repos && \
+    cp -r src/ros2_controllers/diff_drive_controller src/ && \
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
+    rm -rf src/ros2_controllers && \
+    # it is necessary to remove simulation - otherwise rosdep tries to install dependencies
+    rm -r src/rosbot_xl_gazebo && \
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src --ignore-src -y --simulate > /rosdep_output.txt && \
+    echo $(cat /ros2_ws/src/rosbot_xl/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
+    # for backward compatibility
+    chmod +x src/rosbot_xl_utils/rosbot_xl_utils/flash-firmware.py && \
+    cp src/rosbot_xl_utils/rosbot_xl_utils/flash-firmware.py / && \
+    cp src/rosbot_xl_utils/firmware/firmware-*.bin /firmware.bin
+
 ## =========================== Healthcheck builder ===============================
 
 FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-base AS healthcheck_builder
@@ -42,6 +73,8 @@ SHELL ["/bin/bash", "-c"]
 WORKDIR /ros2_ws
 RUN mkdir src
 
+COPY --from=rosdep_output /rosdep_output.txt /rosdep_output.txt
+
 RUN apt-get update && apt-get install -y \
         python3-pip
 
@@ -52,20 +85,10 @@ RUN git clone --depth 1 -b master https://github.com/husarion/rosbot_xl_ros.git
     rm -rf src/ros2_controllers && \
     # it is necessary to remove simulation - otherwise rosdep tries to install dependencies
     rm -r src/rosbot_xl_gazebo && \
-    # without this line (using vulcanexus base image) rosdep init throws error: "ERROR: default sources list file already exists:"
-    rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
-    rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src --ignore-src -y --simulate > /rosdep_output.txt && \
-    rosdep install --from-paths src --ignore-src -y && \
+    bash -c "$(cat /rosdep_output.txt)" && \
     MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     source /opt/$MYDISTRO/$ROS_DISTRO/setup.bash && \
     colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release  && \
-    echo $(cat /ros2_ws/src/rosbot_xl/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
-    # for backward compatibility
-    chmod +x src/rosbot_xl_utils/rosbot_xl_utils/flash-firmware.py && \
-    cp src/rosbot_xl_utils/rosbot_xl_utils/flash-firmware.py / && \
-    cp install/rosbot_xl_utils/share/rosbot_xl_utils/firmware/firmware-*.bin /firmware.bin && \
     # make the /ros2_ws smaller
     rm -rf build log src
 
@@ -79,15 +102,15 @@ SHELL ["/bin/bash", "-c"]
 
 WORKDIR /ros2_ws
 
-COPY --from=ros_builder /ros2_ws /ros2_ws
-COPY --from=ros_builder /version.txt /version.txt
-COPY --from=ros_builder /rosdep_output.txt /rosdep_output.txt
+COPY --from=rosdep_output /version.txt /version.txt
+COPY --from=rosdep_output /flash-firmware.py /flash-firmware.py
+COPY --from=rosdep_output /flash-firmware.py /usr/bin/flash-firmware.py
+COPY --from=rosdep_output /firmware.bin /firmware.bin
+COPY --from=rosdep_output /firmware.bin /root/firmware.bin
+COPY --from=rosdep_output /rosdep_output.txt /rosdep_output.txt
 
 # for backward compatibility
-COPY --from=ros_builder /flash-firmware.py /flash-firmware.py
-COPY --from=ros_builder /flash-firmware.py /usr/bin/flash-firmware.py
-COPY --from=ros_builder /firmware.bin /firmware.bin
-COPY --from=ros_builder /firmware.bin /root/firmware.bin
+COPY --from=ros_builder /ros2_ws /ros2_ws
 
 COPY --from=healthcheck_builder /ros2_ws /ros2_ws_healthcheck
 
@@ -96,7 +119,6 @@ RUN apt-get update && apt-get install -y \
         stm32flash \
         libusb-1.0 \
         screen \
-        ros-$ROS_DISTRO-robot-state-publisher \
         ros-$ROS_DISTRO-teleop-twist-keyboard && \
     bash -c "$(cat /rosdep_output.txt)" && \
     apt-get remove -y \