m5p3nc3r
ec554bcf2c
Uses the mecanum controller properly across physical and virtual There is a timing issue with i2c which is why the control update is limited to 10hz The sonar and LED's arent yet working, this will come soon.
84 lines
3.9 KiB
Docker
84 lines
3.9 KiB
Docker
# syntax=docker/dockerfile:1
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# ─────────────────────────────────────────────────────────────────────────────
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# Raspbot V2 — robot deployment image
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#
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# Target: Raspberry Pi 5 (linux/arm64)
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# Build: docker buildx build --platform linux/arm64 \
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# -t raspbot-v2:latest -f Dockerfile.robot .
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#
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# Run: docker run --rm -it \
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# --network host \
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# --device /dev/i2c-1 \
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# raspbot-v2:latest
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#
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# Override CMD to pass launch arguments, e.g.:
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# docker run ... raspbot-v2:latest \
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# ros2 launch raspbot_v2_hardware hardware.launch.py enable_camera:=false
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# ─────────────────────────────────────────────────────────────────────────────
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ARG ROS_DISTRO=kilted
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# ── Stage 1: build ───────────────────────────────────────────────────────────
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FROM ros:${ROS_DISTRO}-ros-base AS builder
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ARG ROS_DISTRO
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential \
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cmake \
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python3-colcon-common-extensions \
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python3-rosdep \
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ros-${ROS_DISTRO}-hardware-interface \
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ros-${ROS_DISTRO}-pluginlib \
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ros-${ROS_DISTRO}-rclcpp \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /ros2_ws
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# raspbot_v2_sim is intentionally excluded — Gazebo is not needed on the robot
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COPY src/raspbot_v2_bringup src/raspbot_v2_bringup
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COPY src/raspbot_v2_control src/raspbot_v2_control
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COPY src/raspbot_v2_description src/raspbot_v2_description
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COPY src/raspbot_v2_hardware src/raspbot_v2_hardware
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COPY src/raspbot_v2_hardware_interface src/raspbot_v2_hardware_interface
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RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
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&& sudo apt-get update \
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&& rosdep update --rosdistro ${ROS_DISTRO} \
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&& rosdep install --from-paths src --ignore-src -r -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
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&& colcon build \
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--cmake-args -DCMAKE_BUILD_TYPE=Release \
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--parallel-workers "$(nproc)"
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# ── Stage 2: runtime ─────────────────────────────────────────────────────────
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FROM ros:${ROS_DISTRO}-ros-base AS runtime
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ARG ROS_DISTRO
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RUN apt-get update && apt-get install -y --no-install-recommends \
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# I2C access for Yahboom MCU (motors, LEDs, servos, ultrasonic)
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python3-smbus \
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# ros2_control: controller_manager, hardware_interface, spawner CLI
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ros-${ROS_DISTRO}-ros2-control \
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# Standard controllers: MecanumDriveController, JointStateBroadcaster,
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# ForwardCommandController (pan/tilt)
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ros-${ROS_DISTRO}-ros2-controllers \
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# URDF/xacro processing and joint-state → TF broadcasting
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ros-${ROS_DISTRO}-robot-state-publisher \
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ros-${ROS_DISTRO}-xacro \
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&& rm -rf /var/lib/apt/lists/*
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COPY --from=builder /ros2_ws/install /ros2_ws/install
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# Entrypoint sources both the ROS underlay and the workspace overlay
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RUN echo '#!/bin/bash' > /entrypoint.sh \
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&& echo 'set -e' >> /entrypoint.sh \
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&& echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /entrypoint.sh \
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&& echo 'source /ros2_ws/install/setup.bash' >> /entrypoint.sh \
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&& echo 'exec "$@"' >> /entrypoint.sh \
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&& chmod +x /entrypoint.sh
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["ros2", "launch", "raspbot_v2_hardware", "hardware.launch.py"]
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