mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-22 23:33:50 +00:00
137 lines
4.2 KiB
Docker
137 lines
4.2 KiB
Docker
ARG ROS_DISTRO=humble
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ARG UNDERLAY_WS=bot_mini_ws
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ARG OVERLAY_WS=overlay_ws
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# This file should work for both amd64 and arm64 builds.
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## Problem! some variables not working currently. Need to find out why.
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# For now, the variables are replaced with fixed values.
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########################################
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# Base Image for Bot Mini Control #
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########################################
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FROM ros:${ROS_DISTRO} as base
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SHELL ["/bin/bash", "-c"]
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV UNDERLAY_WS=${UNDERLAY_WS}
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ENV OVERLAY_WS=${OVERLAY_WS}
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RUN echo "successfully sourced ENV variables: ROS_DISTRO=${ROS_DISTRO}, UNDERLAY_WS=${UNDERLAY_WS}, OVERLAY_WS=${OVERLAY_WS}"
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# Create Colcon workspace with external dependencies
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RUN mkdir -p /bot_mini_ws/src
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WORKDIR /bot_mini_ws/src
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COPY dependencies.repos .
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#RUN vcs import < dependencies.repos
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RUN vcs import < dependencies.repos;
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# Build the base Colcon workspace, installing dependencies first.
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WORKDIR /bot_mini_ws
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& colcon build --symlink-install \
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&& rm -rf /var/lib/apt/lists/*
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# Use Cyclone DDS as middleware
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RUN apt-get update && apt-get install -y --no-install-recommends \
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nano \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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ros-${ROS_DISTRO}-xacro \
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&& rm -rf /var/lib/apt/lists/*
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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###########################################
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# Overlay Image for Bot Mini Control #
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###########################################
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FROM base AS overlay
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# Create an overlay Colcon workspace
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RUN mkdir -p /overlay_ws/src
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WORKDIR /overlay_ws/src
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COPY overlay.repos .
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RUN vcs import < overlay.repos
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RUN vcs import < cam_ffmpeg/ffmpeg_image_transport.repos
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WORKDIR /overlay_ws
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RUN source /bot_mini_ws/install/setup.bash \
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&& apt-get update \
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&& apt-get install -y ros-${ROS_DISTRO}-image-transport ros-${ROS_DISTRO}-cv-bridge \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo\
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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###########################################
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# GUI Additions for Ros2 #
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###########################################
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FROM overlay AS guis
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# Install additional GUI tools
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RUN source /bot_mini_ws/install/setup.bash \
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&& colcon build --symlink-install \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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ENTRYPOINT [ "/entrypoint.sh" ]
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LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/cps_loki
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#############################################
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# OliveTin Build #
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#############################################
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# FROM registry.fedoraproject.org/fedora:39 AS olivetin
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# LABEL org.opencontainers.image.source https://ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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# LABEL org.opencontainers.image.title=OliveTin
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# # Making sure there is newest docker version installed
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# RUN dnf -y install dnf-plugins-core \
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# && dnf -y install 'dnf-command(config-manager)' \
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# && dnf config-manager --add-repo https://download.docker.com/linux/fedora/docker-ce.repo \
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# && dnf -y install docker-ce-cli docker-compose-plugin --setopt=install_weak_deps=False
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# # Install OliveTin and dependencies
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# RUN mkdir -p /config /var/www/olivetin \
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# && dnf install -y --nodocs --noplugins --setopt=keepcache=0 --setopt=install_weak_deps=0 \
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# iputils \
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# openssh-clients \
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# shadow-utils \
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# OliveTin \
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# && dnf clean all
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# RUN useradd --system --create-home olivetin -u 1000
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# EXPOSE 1337/tcp
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# VOLUME /config
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# USER olivetin
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# ENTRYPOINT [ "/usr/bin/OliveTin" ]
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# FROM alpine AS olivetin
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# RUN wget https://github.com/OliveTin/OliveTin/releases/latest/download/OliveTin_linux_amd64.apk
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# RUN apk add --allow-untrusted OliveTin_linux_amd64.apk docker-cli-compose
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# # Expose the default OliveTin port
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# EXPOSE 1337
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# # Set the default command to run OliveTin
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# CMD ["OliveTin"] |