78 lines
2.5 KiB
Docker
78 lines
2.5 KiB
Docker
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ARG ROS_DISTRO=humble
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ARG UNDERLAY_WS=/rmp_ws
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ARG TARGETPLATFORM
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# This file should work for both amd64 and arm64 builds. Because segway did not release some source code we must copy some binaries for the specific architectures.
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# That is why we must use some conditional statements to copy over the correct files during build process.
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# Variable TARGETPLATFORM should be auomatically created during build process by docker.
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########################################
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# Base Image for Bot Mini Control #
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########################################
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FROM ros:${ROS_DISTRO} as base
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ENV ROS_DISTRO=${ROS_DISTRO}
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SHELL ["/bin/bash", "-c"]
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# Create Colcon workspace with external dependencies
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RUN mkdir -p /rmp_ws/src
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WORKDIR /rmp_ws/src
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COPY dependencies.arm64.repos .
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COPY dependencies.amd64.repos .
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# Choose correct sources for architecture:
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# Copy platform-specific files
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# Use if condition to copy different files for different platforms
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
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echo "Copying files for linux/amd64"; \
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mv dependencies.amd64.repos dependencies.repos; \
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else \
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echo "Copying files for linux/arm64"; \
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mv dependencies.arm64.repos dependencies.repos; \
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fi
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RUN vcs import < dependencies.repos
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# Build the base Colcon workspace, installing dependencies first.
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WORKDIR /rmp_ws
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& colcon build --symlink-install
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# Use Cyclone DDS as middleware
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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ENV UNDERLAY_WS=${UNDERLAY_WS}
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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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# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
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# COPY ./tb3_worlds/ ./src/tb3_worlds/
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RUN source /rmp_ws/install/setup.bash \
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&& colcon build --symlink-install \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
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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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COPY ./controller_startup.sh /
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RUN chmod +x /controller_startup.sh
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COPY ./localization_startup.sh /
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RUN chmod +x /localization_startup.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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