45 lines
1.7 KiB
Docker
45 lines
1.7 KiB
Docker
# syntax=docker/dockerfile:1
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# ── Stage 1: build ────────────────────────────────────────────────────────────
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FROM ros:kilted AS builder
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SHELL ["/bin/bash", "-c"]
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RUN apt-get update && apt-get install -y --no-install-recommends \
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python3-colcon-common-extensions \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /ws
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# Copy the ROS package into the standard colcon src/ layout and build it
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COPY src/my_robot/ src/my_robot/
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
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colcon build --packages-select my_robot
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# ── Stage 2: runtime ──────────────────────────────────────────────────────────
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FROM ros:kilted-ros-core
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rclpy \
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ros-${ROS_DISTRO}-geometry-msgs \
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ros-${ROS_DISTRO}-std-msgs \
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python3-smbus \
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&& rm -rf /var/lib/apt/lists/*
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# Install the Raspbot hardware library directly into site-packages
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COPY raspbot_v2_interface/ /usr/local/lib/python3.12/dist-packages/raspbot_v2_interface/
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# Bring across the built ROS overlay
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COPY --from=builder /ws/install /ws/install
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# Source both ROS base and the workspace overlay on every shell/exec
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
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echo "source /ws/install/setup.bash" >> /etc/bash.bashrc
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COPY docker-entrypoint.sh /docker-entrypoint.sh
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RUN chmod +x /docker-entrypoint.sh
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ENTRYPOINT ["/docker-entrypoint.sh"]
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CMD ["ros2", "run", "my_robot", "motor_controller"]
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