ellensohn/ros2_rmp
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update

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This commit is contained in:
Björn Ellensohn 2023-09-06 08:37:24 +02:00
parent 47d80e562d
commit 12a9161f0e
4 changed files with 10 additions and 124 deletions
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2
docker-compose.yaml
View File

@ -175,7 +175,7 @@ services:
network_mode: host network_mode: host
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# slam-toolbox-localization # slam-toolbox-localization

9
docker/Dockerfile
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@ -67,6 +67,9 @@ ENV UNDERLAY_WS=${UNDERLAY_WS}
COPY ./docker/entrypoint.sh / COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh RUN chmod +x /entrypoint.sh
# Update repository at the end of this build stage
RUN vcs pull src
ENTRYPOINT [ "/entrypoint.sh" ] ENTRYPOINT [ "/entrypoint.sh" ]
########################################### ###########################################
@ -96,6 +99,9 @@ RUN source /rmp_ws/install/setup.bash \
COPY ./docker/entrypoint.sh / COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh RUN chmod +x /entrypoint.sh
# Update repository at the end of this build stage
RUN vcs pull src
ENTRYPOINT [ "/entrypoint.sh" ] ENTRYPOINT [ "/entrypoint.sh" ]
########################################### ###########################################
@ -109,6 +115,9 @@ RUN source /rmp_ws/install/setup.bash \
&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \ && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
&& rm -rf /var/lib/apt/lists/* && rm -rf /var/lib/apt/lists/*
# Update repository at the end of this build stage
RUN vcs pull src
# Set up the entrypoint # Set up the entrypoint
ENTRYPOINT [ "/entrypoint.sh" ] ENTRYPOINT [ "/entrypoint.sh" ]

61
docker/Dockerfile.amd64
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@ -1,61 +0,0 @@
ARG ROS_DISTRO=humble
ARG UNDERLAY_WS=/rmp_ws
########################################
# Base Image for Bot Mini Control #
########################################
FROM osrf/ros:${ROS_DISTRO}-desktop as base
ENV ROS_DISTRO=${ROS_DISTRO}
SHELL ["/bin/bash", "-c"]
# Create Colcon workspace with external dependencies
RUN mkdir -p /rmp_ws/src
WORKDIR /rmp_ws/src
COPY dependencies.repos .
RUN vcs import < dependencies.amd64.repos
# Build the base Colcon workspace, installing dependencies first.
WORKDIR /rmp_ws
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
&& apt-get update -y \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
&& colcon build --symlink-install
# Use Cyclone DDS as middleware
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV UNDERLAY_WS=${UNDERLAY_WS}
###########################################
# 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
RUN echo "Dummy step"
COPY overlay.repos .
RUN vcs import < overlay.repos
WORKDIR /overlay_ws
# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
# COPY ./tb3_worlds/ ./src/tb3_worlds/
RUN source /rmp_ws/install/setup.bash \
&& colcon build --symlink-install \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
# Set up the entrypoint
COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh
COPY ./controller_startup.sh /
RUN chmod +x /controller_startup.sh
COPY ./localization_startup.sh /
RUN chmod +x /localization_startup.sh
ENTRYPOINT [ "/entrypoint.sh" ]

62
docker/Dockerfile.arm64
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@ -1,62 +0,0 @@
ARG ROS_DISTRO=humble
ARG UNDERLAY_WS=/rmp_ws
########################################
# Base Image for Bot Mini Control #
########################################
#FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base
FROM ros:${ROS_DISTRO} as base
ENV ROS_DISTRO=${ROS_DISTRO}
SHELL ["/bin/bash", "-c"]
# Create Colcon workspace with external dependencies
RUN mkdir -p /rmp_ws/src
WORKDIR /rmp_ws/src
COPY dependencies.repos .
RUN vcs import < dependencies.arm64.repos
# Build the base Colcon workspace, installing dependencies first.
WORKDIR /rmp_ws
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
&& apt-get update -y \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
&& colcon build --symlink-install
# Use Cyclone DDS as middleware
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV UNDERLAY_WS=${UNDERLAY_WS}
###########################################
# 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
RUN echo "Dummy step"
COPY overlay.repos .
RUN vcs import < overlay.repos
WORKDIR /overlay_ws
# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
# COPY ./tb3_worlds/ ./src/tb3_worlds/
RUN source /rmp_ws/install/setup.bash \
&& colcon build --symlink-install \
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
# Set up the entrypoint
COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh
COPY ./controller_startup.sh /
RUN chmod +x /controller_startup.sh
COPY ./localization_startup.sh /
RUN chmod +x /localization_startup.sh
ENTRYPOINT [ "/entrypoint.sh" ]