cps_loki/docker/Dockerfile
bjoernellens1 f62247fd4a
update
2023-11-30 10:55:31 +01:00

126 lines
3.8 KiB
Docker

ARG ROS_DISTRO=humble
ARG UNDERLAY_WS=bot_mini_ws
ARG OVERLAY_WS=overlay_ws
# 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 #
########################################
FROM ros:${ROS_DISTRO} as base
SHELL ["/bin/bash", "-c"]
ENV ROS_DISTRO=${ROS_DISTRO}
ENV UNDERLAY_WS=${UNDERLAY_WS}
ENV OVERLAY_WS=${OVERLAY_WS}
RUN echo "successfully sourced ENV variables: ROS_DISTRO=${ROS_DISTRO}, UNDERLAY_WS=${UNDERLAY_WS}, OVERLAY_WS=${OVERLAY_WS}"
# Create Colcon workspace with external dependencies
RUN mkdir -p /bot_mini_ws/src
WORKDIR /bot_mini_ws/src
COPY dependencies.repos .
#RUN vcs import < dependencies.repos
RUN vcs import < dependencies.repos;
# Build the base Colcon workspace, installing dependencies first.
WORKDIR /bot_mini_ws
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
&& apt-get update -y \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
&& colcon build --symlink-install \
&& rm -rf /var/lib/apt/lists/*
# Use Cyclone DDS as middleware
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
ros-${ROS_DISTRO}-xacro \
&& rm -rf /var/lib/apt/lists/*
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
###########################################
# Overlay Image for Bot Mini Control #
###########################################
FROM base AS overlay
# Create an overlay Colcon workspace
RUN mkdir -p /overlay_ws/src
WORKDIR /overlay_ws/src
COPY overlay.repos .
RUN vcs import < overlay.repos
WORKDIR /overlay_ws
RUN source /bot_mini_ws/install/setup.bash \
&& apt-get update \
&& apt-get install -y ros-humble-image-transport \
&& colcon build --symlink-install \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
&& rm -rf /var/lib/apt/lists/*
# Set up the entrypoint
COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh
ENTRYPOINT [ "/entrypoint.sh" ]
###########################################
# GUI Additions for Ros2 #
###########################################
FROM overlay AS guis
# Install additional GUI tools
RUN source /bot_mini_ws/install/setup.bash \
&& colcon build --symlink-install \
&& apt-get update \
&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
&& rm -rf /var/lib/apt/lists/*
# Set up the entrypoint
ENTRYPOINT [ "/entrypoint.sh" ]
LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/cps_loki
#############################################
# OliveTin Build #
#############################################
# FROM registry.fedoraproject.org/fedora:39 AS olivetin
# LABEL org.opencontainers.image.source https://ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
# LABEL org.opencontainers.image.title=OliveTin
# # Making sure there is newest docker version installed
# RUN dnf -y install dnf-plugins-core \
# && dnf -y install 'dnf-command(config-manager)' \
# && dnf config-manager --add-repo https://download.docker.com/linux/fedora/docker-ce.repo \
# && dnf -y install docker-ce-cli docker-compose-plugin --setopt=install_weak_deps=False
# # Install OliveTin and dependencies
# RUN mkdir -p /config /var/www/olivetin \
# && dnf install -y --nodocs --noplugins --setopt=keepcache=0 --setopt=install_weak_deps=0 \
# iputils \
# openssh-clients \
# shadow-utils \
# OliveTin \
# && dnf clean all
# RUN useradd --system --create-home olivetin -u 1000
# EXPOSE 1337/tcp
# VOLUME /config
# USER olivetin
# ENTRYPOINT [ "/usr/bin/OliveTin" ]
FROM jamesread/olivetin AS olivetin
RUN microdnf -y install docker-compose-plugin