mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-23 07:35:09 +00:00
83 lines
2.4 KiB
Docker
83 lines
2.4 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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########################################
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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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# Create Colcon workspace with external dependencies
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RUN mkdir -p /${UNDERLAY_WS}/src
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WORKDIR /${UNDERLAY_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 /${UNDERLAY_WS}
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& colcon build --symlink-install \
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&& rm -rf /var/lib/apt/lists/*
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# Use Cyclone DDS as middleware
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${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 /${OVERLAY_WS}/src
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COPY overlay.repos .
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RUN vcs import < overlay.repos
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WORKDIR /${OVERLAY_WS}
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RUN source /${UNDERLAY_WS}/install/setup.bash \
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&& colcon build --symlink-install \
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&& apt-get update \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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###########################################
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# GUI Additions for Ros2 #
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###########################################
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FROM overlay AS guis
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# Install additional GUI tools
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RUN source /${UNDERLAY_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_bot_mini_ws |