add humble-navigation2
This commit is contained in:
X-lanni
@@ -0,0 +1,227 @@
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# This dockerfile can be configured via --build-arg
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# Build context must be the /navigation2 root folder for COPY.
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# Example build command:
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# export UNDERLAY_MIXINS="debug ccache lld"
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# export OVERLAY_MIXINS="debug ccache coverage-gcc lld"
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# docker build -t nav2:latest \
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# --build-arg UNDERLAY_MIXINS \
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# --build-arg OVERLAY_MIXINS ./
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ARG FROM_IMAGE=ros:humble
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ARG UNDERLAY_WS=/opt/underlay_ws
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ARG OVERLAY_WS=/opt/overlay_ws
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# multi-stage for caching
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FROM $FROM_IMAGE AS cacher
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# clone underlay source
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ARG UNDERLAY_WS
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WORKDIR $UNDERLAY_WS/src
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COPY ./tools/underlay.repos ../
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RUN vcs import ./ < ../underlay.repos
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# copy overlay source
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ARG OVERLAY_WS
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WORKDIR $OVERLAY_WS/src
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COPY ./ ./navigation2
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# copy manifests for caching
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WORKDIR /opt
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RUN find . -name "src" -type d \
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-mindepth 1 -maxdepth 2 -printf '%P\n' \
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| xargs -I % mkdir -p /tmp/opt/% && \
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find . -name "package.xml" \
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| xargs cp --parents -t /tmp/opt && \
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find . -name "COLCON_IGNORE" \
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| xargs cp --parents -t /tmp/opt || true
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# multi-stage for building
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FROM $FROM_IMAGE AS builder
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# config dependencies install
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ARG DEBIAN_FRONTEND=noninteractive
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RUN echo '\
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APT::Install-Recommends "0";\n\
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APT::Install-Suggests "0";\n\
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' > /etc/apt/apt.conf.d/01norecommend
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ENV PYTHONUNBUFFERED 1
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# install CI dependencies
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ARG RTI_NC_LICENSE_ACCEPTED=yes
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RUN apt-get update && \
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apt-get upgrade -y --with-new-pkgs && \
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apt-get install -y \
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ccache \
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lcov \
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lld \
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python3-pip \
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ros-$ROS_DISTRO-rmw-fastrtps-cpp \
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ros-$ROS_DISTRO-rmw-connextdds \
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ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
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&& pip3 install \
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fastcov \
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git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
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git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
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&& rosdep update \
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&& colcon mixin update \
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&& colcon metadata update \
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&& rm -rf /var/lib/apt/lists/*
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# install underlay dependencies
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ARG UNDERLAY_WS
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ENV UNDERLAY_WS $UNDERLAY_WS
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WORKDIR $UNDERLAY_WS
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COPY --from=cacher /tmp/$UNDERLAY_WS ./
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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--skip-keys " \
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slam_toolbox \
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" \
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--ignore-src \
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&& rm -rf /var/lib/apt/lists/*
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# build underlay source
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COPY --from=cacher $UNDERLAY_WS ./
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ARG UNDERLAY_MIXINS="release ccache lld"
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ARG CCACHE_DIR="$UNDERLAY_WS/.ccache"
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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colcon cache lock && \
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colcon build \
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--symlink-install \
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--mixin $UNDERLAY_MIXINS \
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--event-handlers console_direct+
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# install overlay dependencies
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ARG OVERLAY_WS
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ENV OVERLAY_WS $OVERLAY_WS
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WORKDIR $OVERLAY_WS
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COPY --from=cacher /tmp/$OVERLAY_WS ./
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RUN . $UNDERLAY_WS/install/setup.sh && \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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--skip-keys " \
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slam_toolbox \
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"\
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--ignore-src \
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&& rm -rf /var/lib/apt/lists/*
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# multi-stage for testing
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FROM builder AS tester
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# build overlay source
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COPY --from=cacher $OVERLAY_WS ./
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ARG OVERLAY_MIXINS="release ccache lld"
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ARG CCACHE_DIR="$OVERLAY_WS/.ccache"
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RUN . $UNDERLAY_WS/install/setup.sh && \
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colcon cache lock && \
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colcon build \
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--symlink-install \
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--mixin $OVERLAY_MIXINS
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# source overlay from entrypoint
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RUN sed --in-place \
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's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
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/ros_entrypoint.sh
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# test overlay build
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ARG RUN_TESTS
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ARG FAIL_ON_TEST_FAILURE
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RUN if [ -n "$RUN_TESTS" ]; then \
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. install/setup.sh && \
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colcon test && \
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colcon test-result \
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|| ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
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fi
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# multi-stage for developing
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FROM builder AS dever
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# edit apt for caching
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RUN mv /etc/apt/apt.conf.d/docker-clean /etc/apt/
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# install developer dependencies
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RUN apt-get update && \
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apt-get install -y \
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bash-completion \
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gdb \
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wget && \
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pip3 install \
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bottle \
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glances
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# source underlay for shell
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RUN echo 'source "$UNDERLAY_WS/install/setup.bash"' >> /etc/bash.bashrc
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# multi-stage for caddy
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FROM caddy:builder AS caddyer
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# build custom modules
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RUN xcaddy build \
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--with github.com/caddyserver/replace-response
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# multi-stage for visualizing
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FROM dever AS visualizer
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ENV ROOT_SRV /srv
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RUN mkdir -p $ROOT_SRV
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# install demo dependencies
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RUN apt-get update && apt-get install -y \
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ros-$ROS_DISTRO-aws-robomaker-small-warehouse-world \
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ros-$ROS_DISTRO-rviz2 \
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ros-$ROS_DISTRO-turtlebot3-simulations
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# install gzweb dependacies
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RUN apt-get install -y --no-install-recommends \
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imagemagick \
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libboost-all-dev \
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libgazebo-dev \
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libgts-dev \
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libjansson-dev \
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libtinyxml-dev \
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nodejs \
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npm \
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psmisc \
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xvfb
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# clone gzweb
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ENV GZWEB_WS /opt/gzweb
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RUN git clone https://github.com/osrf/gzweb.git $GZWEB_WS
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# setup gzweb
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RUN cd $GZWEB_WS && . /usr/share/gazebo/setup.sh && \
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GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(find /opt/ros/$ROS_DISTRO/share \
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-mindepth 1 -maxdepth 2 -type d -name "models" | paste -s -d: -) && \
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sed -i "s|var modelList =|var modelList = []; var oldModelList =|g" gz3d/src/gzgui.js && \
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xvfb-run -s "-screen 0 1280x1024x24" ./deploy.sh -m local && \
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ln -s $GZWEB_WS/http/client/assets http/client/assets/models && \
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ln -s $GZWEB_WS/http/client $ROOT_SRV/gzweb
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# patch gzsever
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RUN GZSERVER=$(which gzserver) && \
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mv $GZSERVER $GZSERVER.orig && \
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echo '#!/bin/bash' > $GZSERVER && \
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echo 'exec xvfb-run -s "-screen 0 1280x1024x24" gzserver.orig "$@"' >> $GZSERVER && \
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chmod +x $GZSERVER
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# install foxglove dependacies
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RUN apt-get install -y --no-install-recommends \
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ros-$ROS_DISTRO-foxglove-bridge
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# setup foxglove
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# Use custom fork until PR is merged:
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# https://github.com/foxglove/studio/pull/5987
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# COPY --from=ghcr.io/foxglove/studio /src $ROOT_SRV/foxglove
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COPY --from=ghcr.io/ruffsl/foxglove_studio@sha256:8a2f2be0a95f24b76b0d7aa536f1c34f3e224022eed607cbf7a164928488332e /src $ROOT_SRV/foxglove
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# install web server
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COPY --from=caddyer /usr/bin/caddy /usr/bin/caddy
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# download media files
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RUN mkdir -p $ROOT_SRV/media && cd /tmp && \
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export ICONS="icons.tar.gz" && wget https://github.com/ros-planning/navigation2/files/11506823/$ICONS && \
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echo "cae5e2a5230f87b004c8232b579781edb4a72a7431405381403c6f9e9f5f7d41 $ICONS" | sha256sum -c && \
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tar xvz -C $ROOT_SRV/media -f $ICONS && rm $ICONS
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# multi-stage for exporting
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FROM tester AS exporter
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