ellensohn/ros2_rmp
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postponing slimming the image

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This commit is contained in:
Björn Ellensohn 2023-08-02 12:16:04 +02:00
parent 9d94a555dd
commit ee3ef32966
2 changed files with 42 additions and 42 deletions
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31
docker-compose.yaml
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@ -47,22 +47,21 @@ services:
- linux/arm64
- linux/amd64
# Overlay image containing the project specific source code.
final:
extends: overlay
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
build:
context: .
dockerfile: docker/Dockerfile
tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:final
target: final
x-bake:
platforms:
- linux/arm64
- linux/amd64
command: >
ros2 launch cps_rmp220_support rsp.launch.py
# # Overlay image containing the project specific source code.
# final:
# extends: overlay
# image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
# build:
# context: .
# dockerfile: docker/Dockerfile
# tags:
# - ghcr.io/bjoernellens1/ros2_rmp/rmp:final
# target: final
# x-bake:
# platforms:
# - linux/arm64
# - linux/amd64
# command: /bin/bash
# Robot State Publisher
robot_state_publisher:

53
docker/Dockerfile
View File

@ -89,34 +89,35 @@ RUN chmod +x /localization_startup.sh
ENTRYPOINT [ "/entrypoint.sh" ]
###########################################
# Packing it up into a smaller image by starting from scratch and copying related stuff #
###########################################
FROM ros:${ROS_DISTRO}-ros-core AS final
COPY --from=overlay /overlay_ws/ /overlay_ws/
COPY --from=overlay /opt/ros /opt/ros/
COPY --from=overlay /usr/local/ /usr/local/
# COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib/x86_64-linux-gnu/libpthread.so.0 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib/x86_64-linux-gnu/librt.so.1 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib/x86_64-linux-gnu/libc.so.6 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/
# ###########################################
# # Packing it up into a smaller image by starting from scratch and copying related stuff #
# ###########################################
# FROM ros:${ROS_DISTRO}-ros-core AS final
# COPY --from=overlay /overlay_ws/ /overlay_ws/
# COPY --from=overlay /rmp_ws /rmp_ws
# COPY --from=overlay /opt/ros /opt/ros/
# COPY --from=overlay /usr/local/ /usr/local/
# # COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/
# # COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/
# # COPY --from=overlay /lib/x86_64-linux-gnu/libpthread.so.0 /lib/x86_64-linux-gnu/
# # COPY --from=overlay /lib/x86_64-linux-gnu/librt.so.1 /lib/x86_64-linux-gnu/
# # COPY --from=overlay /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
# # COPY --from=overlay /lib/x86_64-linux-gnu/libc.so.6 /lib/x86_64-linux-gnu/
# # COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/
# Set up environment variables
ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
# # Set up environment variables
# ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
# ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
# Copy necessary entrypoint and scripts
COPY ./docker/entrypoint.sh /
COPY ./controller_startup.sh /
COPY ./localization_startup.sh /
# # Copy necessary entrypoint and scripts
# COPY ./docker/entrypoint.sh /
# COPY ./controller_startup.sh /
# COPY ./localization_startup.sh /
# Set permissions for scripts
RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
# # Set permissions for scripts
# RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
# Set up the entrypoint
ENTRYPOINT [ "/entrypoint.sh" ]
# # Set up the entrypoint
# ENTRYPOINT [ "/entrypoint.sh" ]
LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
# LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp