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update

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This commit is contained in:
Björn Ellensohn 2023-08-02 19:12:24 +02:00
parent a5567877d1
commit 5155755400
3 changed files with 20 additions and 17 deletions
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2
docker-compose.yaml
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@ -11,6 +11,8 @@ services:
- ghcr.io/bjoernellens1/ros2-base:humble - ghcr.io/bjoernellens1/ros2-base:humble
args: args:
ROS_DISTRO: humble ROS_DISTRO: humble
UNDERLAY_WS: cps_bot_mini_ws
OVERLAY_WS: overlay_ws
target: base target: base
x-bake: x-bake:
platforms: platforms:

25
docker/Dockerfile
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@ -1,9 +1,12 @@
ARG ROS_DISTRO=humble ARG ROS_DISTRO=humble
ARG UNDERLAY_WS=/bot_mini_ws ARG UNDERLAY_WS=bot_mini_ws
ARG OVERLAY_WS=/overlay_ws ARG OVERLAY_WS=overlay_ws
# This file should work for both amd64 and arm64 builds. # This file should work for both amd64 and arm64 builds.
## Problem! some variables not working currently. Need to find out why.
# For now, the variables are replaced with fixed values.
######################################## ########################################
# Base Image for Bot Mini Control # # Base Image for Bot Mini Control #
######################################## ########################################
@ -15,16 +18,18 @@ ENV ROS_DISTRO=${ROS_DISTRO}
ENV UNDERLAY_WS=${UNDERLAY_WS} ENV UNDERLAY_WS=${UNDERLAY_WS}
ENV OVERLAY_WS=${OVERLAY_WS} ENV OVERLAY_WS=${OVERLAY_WS}
RUN echo "successfully sourced ENV variables: ROS_DISTRO=${ROS_DISTRO}, UNDERLAY_WS=${UNDERLAY_WS}, OVERLAY_WS=${OVERLAY_WS}"
# Create Colcon workspace with external dependencies # Create Colcon workspace with external dependencies
RUN mkdir -p /${UNDERLAY_WS}/src RUN mkdir -p /bot_mini_ws/src
WORKDIR /${UNDERLAY_WS}/src WORKDIR /bot_mini_ws/src
COPY dependencies.repos . COPY dependencies.repos .
#RUN vcs import < dependencies.repos #RUN vcs import < dependencies.repos
RUN vcs import < dependencies.repos; RUN vcs import < dependencies.repos;
# Build the base Colcon workspace, installing dependencies first. # Build the base Colcon workspace, installing dependencies first.
WORKDIR /${UNDERLAY_WS} WORKDIR /bot_mini_ws
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \ RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
&& apt-get update -y \ && apt-get update -y \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
@ -45,14 +50,14 @@ ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
FROM base AS overlay FROM base AS overlay
# Create an overlay Colcon workspace # Create an overlay Colcon workspace
RUN mkdir -p /${OVERLAY_WS}/src RUN mkdir -p /overlay_ws/src
WORKDIR /${OVERLAY_WS}/src WORKDIR /overlay_ws/src
COPY overlay.repos . COPY overlay.repos .
RUN vcs import < overlay.repos RUN vcs import < overlay.repos
WORKDIR /${OVERLAY_WS} WORKDIR /overlay_ws
RUN source /${UNDERLAY_WS}/install/setup.bash \ RUN source /bot_mini_ws/install/setup.bash \
&& colcon build --symlink-install \ && colcon build --symlink-install \
&& apt-get update \ && apt-get update \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
@ -70,7 +75,7 @@ ENTRYPOINT [ "/entrypoint.sh" ]
FROM overlay AS guis FROM overlay AS guis
# Install additional GUI tools # Install additional GUI tools
RUN source /${UNDERLAY_WS}/install/setup.bash \ RUN source /bot_mini_ws/install/setup.bash \
&& colcon build --symlink-install \ && colcon build --symlink-install \
&& apt-get update \ && apt-get update \
&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \ && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \

10
overlay.repos
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@ -8,18 +8,13 @@ repositories:
rmp220_teleop: rmp220_teleop:
type: git type: git
url: https://github.com/bjoernellens1/rmp220_teleop.git url: https://github.com/bjoernellens1/rmp220_teleop.git
version: main version: bot_mini
cam_openCV: cam_openCV:
type: git type: git
url: https://github.com/bjoernellens1/ros2_cam_openCV.git url: https://github.com/bjoernellens1/ros2_cam_openCV.git
version: main version: main
bot_mini_teleop:
type: git
url: https://github.com/bjoernellens1/rmp220_teleop
version: bot_mini
bot_mini_description: bot_mini_description:
type: git type: git
url: https://github.com/bjoernellens1/bot_mini_description url: https://github.com/bjoernellens1/bot_mini_description
@ -30,4 +25,5 @@ repositories:
bot_mini_bringup: bot_mini_bringup:
type: git type: git
url: https://github.com/bjoernellens1/bot_mini_bringup url: https://github.com/bjoernellens1/bot_mini_bringup
version: imu