Matt Spencer
72 lines
2.7 KiB
Docker
72 lines
2.7 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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# Stage any dual ROS1/ROS2 packages (e.g. livox_ros_driver2) for ROS2 without
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# modifying their upstream source: generate package.xml from package_ROS2.xml so
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# colcon can discover them. The ROS2 build is selected via -DROS_EDITION below.
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# RUN for d in $(find /ros2_ws/src -type f -name package_ROS2.xml -exec dirname {} \;); do \
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# cp -f "$d/package_ROS2.xml" "$d/package.xml"; \
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# done
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# Import all upstream repostories
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RUN vcs import ./src/upstream < ./upstream.jazzy.repos
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# Fixup the livox package for ros2 build
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RUN cd ./src/upstream/livox_ros_driver2 && \
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rm -rf launch package.xml && \
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ln -sfn launch_ROS2 launch && \
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ln -sfn package_ROS2.xml package.xml
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RUN cd ./src/upsstream/FAST_LIO && \
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git submodule update --init
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# Apply patches to upstream
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# RUN ./patches/apply_patches.sh
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# system deps from frozen rosdep manifest — no rosdep at build or startup
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# NOTE: There should be a check in your CI that this file is up to date.
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# Something like:
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# ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
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COPY rosdep-packages.txt /tmp/rosdep-packages.txt
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# The --mount=type=cache option caches the apt packages with buildkit
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# The id-apt-cache-${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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--packages-ignore unitree_lidar_ros2 unitree_lidar_ros unitree_lidar_sdk \
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--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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