Matt Spencer
59 lines
2.4 KiB
Docker
59 lines
2.4 KiB
Docker
FROM ros:jazzy
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# Create the workspace and copy all source directories into it
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WORKDIR /ros2_ws
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ARG TARGETARCH
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COPY src ./src/
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COPY patches ./patches/
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COPY upstream.jazzy.repos ./upstream.jazzy.repos
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# Import all upstream repostories
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RUN mkdir -p src/upstream && vcs import ./src/upstream < ./upstream.jazzy.repos
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# Apply patches to upstream
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RUN ./patches/apply_patches.sh
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# system deps from frozen rosdep manifest — no rosdep at build or startup
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# NOTE: There should be a check in your CI that this file is up to date.
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# Something like:
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# ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
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# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
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# The --mount=type=cache option caches the apt packages with buildkit
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# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
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# this enables parallel builds for different architectures without cache conflicts
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# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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# rm -f /etc/apt/apt.conf.d/docker-clean \
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# && apt-get update \
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# && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
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# && rm -rf /var/lib/apt/lists/*
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# Make sure the base image is completely up to date
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# ros:jazzy ships /etc/apt/apt.conf.d/docker-clean which purges downloaded .debs;
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# remove it so the --mount=type=cache on /var/cache/apt actually retains archives.
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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rm -f /etc/apt/apt.conf.d/docker-clean \
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&& apt-get update \
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&& apt-get upgrade -y \
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&& rm -rf /var/lib/apt/lists/*
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# Install dependencies with rosdep
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# This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
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rm -f /etc/apt/apt.conf.d/docker-clean && \
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apt-get update && \
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rosdep update && \
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rosdep install --from-paths src --ignore-src -r -y && \
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rm -rf /var/lib/apt/lists/*
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# Build the workspace with symlink install
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# livox_sdk is now an ament_cmake package built by colcon (no manual /usr/local install needed).
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RUN . /opt/ros/jazzy/setup.sh && \
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colcon build --symlink-install
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# Source the overlay on container startup
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RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
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echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc
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CMD ["bash"]
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