add humble-navigation2
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X-lanni
@@ -0,0 +1,247 @@
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# syntax=docker/dockerfile:experimental
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# Use experimental buildkit for faster builds
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# https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md
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# Use `--progress=plain` to use plane stdout for docker build
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#
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# Example build command:
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# This determines which version of the ROS2 code base to pull
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# export ROS2_BRANCH=main
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# export DOCKER_BUILDKIT=1
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# docker build \
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# --tag nav2:source \
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# --file source.Dockerfile ../
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#
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# Use `--no-cache` to break the local docker build cache.
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# Use `--pull` to pull the latest parent image from the remote registry.
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# Use `--target=<stage_name>` to build stages not used for final stage.
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#
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# We're only building on top of a ros2 devel image to get the basics
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# prerequisites installed such as the apt source, rosdep, etc. We don't want to
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# actually use any of the ros release packages. Instead we are going to build
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# everything from source in one big workspace.
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ARG FROM_IMAGE=osrf/ros2:devel
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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 ros2 source
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ARG ROS2_BRANCH=master
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ARG ROS2_REPO=https://github.com/ros2/ros2.git
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WORKDIR $ROS2_WS/src
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RUN git clone $ROS2_REPO -b $ROS2_BRANCH && \
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vcs import ./ < ros2/ros2.repos && \
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find ./ -name ".git" | xargs rm -rf
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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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find ./ -name ".git" | xargs rm -rf
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# copy overlay source
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ARG OVERLAY_WS
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WORKDIR $OVERLAY_WS/src
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COPY ./ ./ros-planning/navigation2
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RUN colcon list --names-only | cat >> /opt/packages.txt
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# remove skiped packages
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WORKDIR /opt
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RUN find ./ \
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-name "AMENT_IGNORE" -o \
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-name "CATKIN_IGNORE" -o \
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-name "COLCON_IGNORE" \
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| xargs dirname | xargs rm -rf || true && \
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colcon list --paths-only \
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--packages-skip-up-to \
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$(cat packages.txt | xargs) \
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| xargs rm -rf
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# copy manifests for caching
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RUN 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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# multi-stage for ros2 dependencies
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FROM $FROM_IMAGE AS ros2_depender
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ARG DEBIAN_FRONTEND=noninteractive
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# edit apt for caching
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RUN cp /etc/apt/apt.conf.d/docker-clean /etc/apt/ && \
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echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' \
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> /etc/apt/apt.conf.d/docker-clean
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# install packages
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RUN --mount=type=cache,target=/var/cache/apt \
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--mount=type=cache,target=/var/lib/apt \
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apt-get update && apt-get install -q -y \
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ccache \
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libasio-dev \
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libtinyxml2-dev \
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lld \
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&& rosdep update
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ENV ROS_VERSION=2 \
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ROS_PYTHON_VERSION=3
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# install ros2 dependencies
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WORKDIR $ROS2_WS
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COPY --from=cacher /tmp/$ROS2_WS ./
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COPY ./tools/skip_keys.txt /tmp/
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RUN --mount=type=cache,target=/var/cache/apt \
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--mount=type=cache,target=/var/lib/apt \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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--ignore-src \
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--skip-keys " \
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$(cat /tmp/skip_keys.txt | xargs) \
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"
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# multi-stage for building ros2
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FROM ros2_depender AS ros2_builder
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# build ros2 source
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COPY --from=cacher $ROS2_WS ./
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ARG ROS2_MIXINS="release ccache lld"
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RUN --mount=type=cache,target=/root/.ccache \
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colcon build \
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--symlink-install \
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--mixin $ROS2_MIXINS
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# multi-stage for testing ros2
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FROM ros2_builder AS ros2_tester
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# test overlay build
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ARG RUN_TESTS
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ARG FAIL_ON_TEST_FAILURE
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RUN if [ -n "$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 "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
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fi
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# multi-stage for underlay dependencies
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FROM ros2_depender AS underlay_depender
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# copy manifests for caching
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COPY --from=cacher /tmp/$ROS2_WS $ROS2_WS
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# install underlay dependencies
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ARG UNDERLAY_WS
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WORKDIR $UNDERLAY_WS
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COPY --from=cacher /tmp/$UNDERLAY_WS ./
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RUN --mount=type=cache,target=/var/cache/apt \
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--mount=type=cache,target=/var/lib/apt \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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$ROS2_WS/src \
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--ignore-src \
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--skip-keys " \
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$(cat /tmp/skip_keys.txt | xargs) \
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"
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# multi-stage for building underlay
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FROM underlay_depender AS underlay_builder
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# copy workspace for caching
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COPY --from=ros2_builder $ROS2_WS $ROS2_WS
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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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RUN --mount=type=cache,target=/root/.ccache \
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. $ROS2_WS/install/setup.sh && \
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colcon build \
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--symlink-install \
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--mixin $UNDERLAY_MIXINS
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# multi-stage for testing underlay
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FROM underlay_builder AS underlay_tester
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# test overlay build
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ARG RUN_TESTS
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ARG FAIL_ON_TEST_FAILURE
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RUN if [ -n "$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 "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
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fi
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# multi-stage for overlay dependencies
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FROM underlay_depender AS overlay_depender
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# copy manifests for caching
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COPY --from=cacher /tmp/$ROS2_WS $ROS2_WS
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COPY --from=cacher /tmp/$UNDERLAY_WS $UNDERLAY_WS
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# install overlay dependencies
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ARG OVERLAY_WS
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WORKDIR $OVERLAY_WS
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COPY --from=cacher /tmp/$OVERLAY_WS ./
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RUN --mount=type=cache,target=/var/cache/apt \
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--mount=type=cache,target=/var/lib/apt \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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$ROS2_WS/src \
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$UNDERLAY_WS/src \
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--ignore-src \
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--skip-keys " \
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$(cat /tmp/skip_keys.txt | xargs) \
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"
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# multi-stage for building overlay
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FROM overlay_depender AS overlay_builder
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# copy workspace for caching
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COPY --from=ros2_builder $ROS2_WS $ROS2_WS
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COPY --from=underlay_builder $UNDERLAY_WS $UNDERLAY_WS
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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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RUN --mount=type=cache,target=/root/.ccache \
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. $UNDERLAY_WS/install/setup.sh && \
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colcon build \
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--symlink-install \
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--mixin $OVERLAY_MIXINS
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# multi-stage for testing overlay
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FROM overlay_builder AS overlay_tester
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# test overlay build
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ARG RUN_TESTS
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ARG FAIL_ON_TEST_FAILURE
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RUN if [ -n "$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 testing workspaces
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FROM overlay_builder AS workspaces_tester
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# copy workspace test results
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COPY --from=ros2_tester $ROS2_WS/log $ROS2_WS/log
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COPY --from=underlay_tester $UNDERLAY_WS/log $UNDERLAY_WS/log
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COPY --from=overlay_tester $OVERLAY_WS/log $OVERLAY_WS/log
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# multi-stage for shipping overlay
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FROM overlay_builder AS overlay_shipper
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# restore apt for docker
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RUN mv /etc/apt/docker-clean /etc/apt/apt.conf.d/ && \
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rm -rf /var/lib/apt/lists/
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# source overlay from entrypoint
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ENV UNDERLAY_WS $UNDERLAY_WS
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ENV OVERLAY_WS $OVERLAY_WS
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RUN sed --in-place \
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's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
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/ros_entrypoint.sh
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