merge apt install to make build step shorter

l4t.Dockerfile

@@ -27,10 +27,11 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     curl \
+    lsb-release \
+    wget \
     && rm -rf /var/lib/apt/lists/*
 
 # setup sources.list
-RUN sudo apt-get update && apt-get install -y lsb-release
 RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 
 # setup keys
@@ -39,38 +40,28 @@ RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sud
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
-
 ENV ROS_DISTRO noetic
 
+# Remove OpenCV built with CUDA by NVIDIA. It conflicts with original OpenCV deb
+RUN apt purge opencv-* -y
+
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-noetic-ros-core=1.5.0-1* \
-    && rm -rf /var/lib/apt/lists/*
-
-# install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
+    ros-noetic-ros-base=1.5.0-1* \
     build-essential \
     python3-rosdep \
     python3-rosinstall \
     python3-vcstools \
+    ros-noetic-jsk-tools \
+    ros-noetic-image-transport-plugins \
+    python3-osrf-pycommon \
+    python3-catkin-tools \
+    python3-wstool \
+    ros-noetic-jsk-pcl-ros \
+    ros-noetic-jsk-pcl-ros-utils \
     && rm -rf /var/lib/apt/lists/*
 
-# install ros packages
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-noetic-ros-base=1.5.0-1* \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN apt update && apt install python3-osrf-pycommon python3-catkin-tools python3-wstool -y
-
-# Remove OpenCV built with CUDA by NVIDIA. It conflicts with original OpenCV deb
-RUN apt purge opencv-* -y
-
-RUN apt update && apt install ros-noetic-jsk-tools -y
-RUN apt update && apt install ros-noetic-image-transport-plugins -y
-
-# install launch/sample_detection.launch dependencies if you work with point clouds
-RUN apt-get update && apt-get install -y ros-noetic-jsk-pcl-ros ros-noetic-jsk-pcl-ros-utils
-
 WORKDIR /home/user
 
 USER user
@@ -82,7 +73,6 @@ SHELL ["/bin/bash", "-c"]
 ########################################
 # Installing catkin package
 RUN mkdir -p ~/detic_ws/src
-RUN sudo apt install -y wget
 RUN sudo rosdep init && rosdep update && sudo apt update
 
 # Build detectron2 from source. The aarch64 version is not released
@@ -105,6 +95,9 @@ RUN cd ~/detic_ws/src &&\
 # to avoid conflcit when mounting
 RUN rm -rf ~/detic_ws/src/detic_ros/launch
 
+RUN sudo rm -rf /var/lib/apt/lists/*
+RUN rm -rf /tmp/detectron2
+
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