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/arm64
- linux/amd64 - linux/amd64
# Overlay image containing the project specific source code. # # Overlay image containing the project specific source code.
final: # final:
extends: overlay # extends: overlay
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final # image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
build: # build:
context: . # context: .
dockerfile: docker/Dockerfile # dockerfile: docker/Dockerfile
tags: # tags:
- ghcr.io/bjoernellens1/ros2_rmp/rmp:final # - ghcr.io/bjoernellens1/ros2_rmp/rmp:final
target: final # target: final
x-bake: # x-bake:
platforms: # platforms:
- linux/arm64 # - linux/arm64
- linux/amd64 # - linux/amd64
command: > # command: /bin/bash
ros2 launch cps_rmp220_support rsp.launch.py
# Robot State Publisher # Robot State Publisher
robot_state_publisher: robot_state_publisher:

53
docker/Dockerfile
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@ -89,34 +89,35 @@ RUN chmod +x /localization_startup.sh
ENTRYPOINT [ "/entrypoint.sh" ] ENTRYPOINT [ "/entrypoint.sh" ]
########################################### # ###########################################
# Packing it up into a smaller image by starting from scratch and copying related stuff # # # Packing it up into a smaller image by starting from scratch and copying related stuff #
########################################### # ###########################################
FROM ros:${ROS_DISTRO}-ros-core AS final # FROM ros:${ROS_DISTRO}-ros-core AS final
COPY --from=overlay /overlay_ws/ /overlay_ws/ # COPY --from=overlay /overlay_ws/ /overlay_ws/
COPY --from=overlay /opt/ros /opt/ros/ # COPY --from=overlay /rmp_ws /rmp_ws
COPY --from=overlay /usr/local/ /usr/local/ # COPY --from=overlay /opt/ros /opt/ros/
# COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/ # COPY --from=overlay /usr/local/ /usr/local/
# COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/ # # COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /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/libdl.so.2 /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/libpthread.so.0 /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/librt.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 /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
# COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/ # # 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 # # 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:$LD_LIBRARY_PATH # ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH # ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
# Copy necessary entrypoint and scripts # # Copy necessary entrypoint and scripts
COPY ./docker/entrypoint.sh / # COPY ./docker/entrypoint.sh /
COPY ./controller_startup.sh / # COPY ./controller_startup.sh /
COPY ./localization_startup.sh / # COPY ./localization_startup.sh /
# Set permissions for scripts # # Set permissions for scripts
RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh # RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
# Set up the entrypoint # # Set up the entrypoint
ENTRYPOINT [ "/entrypoint.sh" ] # 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