Matt Spencer
58 lines
2.0 KiB
Docker
58 lines
2.0 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 vcs import ./src/upstream < ./upstream.jazzy.repos
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RUN cd ./src/upstream/FAST_LIO && \
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git submodule update --init
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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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# 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 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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RUN cd src/upstream/livox_sdk && \
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mkdir -p build && \
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cd build && rm -rf * && \
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cmake .. -DCMAKE_BUILD_TYPE=Release && \
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make -j && \
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make install
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# Build the workspace with symlink install
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RUN . /opt/ros/jazzy/setup.sh && \
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colcon build --symlink-install \
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li --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
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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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