add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,101 @@
+# syntax=docker/dockerfile:experimental
+
+# Use experimental buildkit for faster builds
+# https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md
+# Use `--progress=plain` to use plane stdout for docker build
+#
+# Example build command:
+# export DOCKER_BUILDKIT=1
+# export FROM_IMAGE="ros:humble"
+# export OVERLAY_MIXINS="release ccache lld"
+# docker build -t nav2:humble \
+#   --build-arg FROM_IMAGE \
+#   --build-arg OVERLAY_MIXINS \
+#   -f distro.Dockerfile ../
+
+ARG FROM_IMAGE=ros:humble
+ARG OVERLAY_WS=/opt/overlay_ws
+
+# multi-stage for caching
+FROM $FROM_IMAGE AS cacher
+
+# copy overlay source
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+RUN echo "\
+repositories: \n\
+  ros-planning/navigation2: \n\
+    type: git \n\
+    url: https://github.com/ros-planning/navigation2.git \n\
+    version: ${ROS_DISTRO}-devel \n\
+" > ../overlay.repos
+RUN vcs import ./ < ../overlay.repos && \
+    find ./ -name ".git" | xargs rm -rf
+# COPY ./ ./ros-planning/navigation2
+
+# copy manifests for caching
+WORKDIR /opt
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
+    find ./ -name "COLCON_IGNORE" | \
+      xargs cp --parents -t /tmp/opt || true
+
+# multi-stage for building
+FROM $FROM_IMAGE AS builder
+ARG DEBIAN_FRONTEND=noninteractive
+
+# edit apt for caching
+RUN cp /etc/apt/apt.conf.d/docker-clean /etc/apt/ && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' \
+      > /etc/apt/apt.conf.d/docker-clean
+
+# install CI dependencies
+RUN --mount=type=cache,target=/var/cache/apt \
+    --mount=type=cache,target=/var/lib/apt \
+    apt-get update && apt-get install -q -y \
+      ccache \
+      lcov \
+      lld \
+    && rosdep update
+
+# install overlay dependencies
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
+RUN --mount=type=cache,target=/var/cache/apt \
+    --mount=type=cache,target=/var/lib/apt \
+    . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build overlay source
+COPY --from=cacher $OVERLAY_WS/src ./src
+ARG OVERLAY_MIXINS="release ccache lld"
+RUN --mount=type=cache,target=/root/.ccache \
+    . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --mixin $OVERLAY_MIXINS
+
+# restore apt for docker
+RUN mv /etc/apt/docker-clean /etc/apt/apt.conf.d/ && \
+    rm -rf /var/lib/apt/lists/
+
+# source overlay from entrypoint
+ENV OVERLAY_WS $OVERLAY_WS
+RUN sed --in-place \
+      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
+      /ros_entrypoint.sh
+
+# test overlay build
+ARG RUN_TESTS
+ARG FAIL_ON_TEST_FAILURE
+RUN if [ -n "$RUN_TESTS" ]; then \
+        . install/setup.sh && \
+        colcon test && \
+        colcon test-result \
+          || ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
+    fi