m5p3nc3r
0174cb599f
- Add m5p3nc3r/sllidar_ros2 fork as a git subtree at lidar/sllidar_ros2/ - Dockerfile now COPYs source from the workspace instead of cloning at build time; git is no longer a build dependency - Set /scan publisher QoS to BEST_EFFORT (depth 2) for Nav2/RViz2 compat - Add lidar/README.md documenting the subtree workflow - Remove lidar/sllidar_ros2/ from .gitignore (no longer needed) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
41 lines
1.6 KiB
Docker
41 lines
1.6 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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# Source is managed as a git subtree — copy directly from the workspace
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COPY lidar/sllidar_ros2/ src/sllidar_ros2/
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
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colcon build --packages-select sllidar_ros2
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# ── Stage 2: runtime ──────────────────────────────────────────────────────────
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FROM ros:kilted-ros-core
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rclcpp \
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ros-${ROS_DISTRO}-sensor-msgs \
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ros-${ROS_DISTRO}-std-srvs \
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&& rm -rf /var/lib/apt/lists/*
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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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# Reuse the same entrypoint as the robot container (sources overlays, starts daemon)
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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", "launch", "sllidar_ros2", "sllidar_a1_launch.py"]
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