267 lines
8.3 KiB
Docker
267 lines
8.3 KiB
Docker
ARG ROS_DISTRO=humble
|
|
ARG UNDERLAY_WS=/rmp_ws
|
|
ARG TARGETPLATFORM
|
|
|
|
|
|
# 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.
|
|
# That is why we must use some conditional statements to copy over the correct files during build process.
|
|
# Variable TARGETPLATFORM should be auomatically created during build process by docker.
|
|
|
|
########################################
|
|
# Base Image for RMP Control #
|
|
########################################
|
|
FROM ros:${ROS_DISTRO} as base
|
|
ENV ROS_DISTRO=${ROS_DISTRO}
|
|
#ENV TARGETPLATFORM=$TARGETPLATFORM
|
|
|
|
SHELL ["/bin/bash", "-c"]
|
|
|
|
# Create Colcon workspace with external dependencies
|
|
RUN echo "update base 26.09.2023 - test"
|
|
|
|
RUN mkdir -p /rmp_ws/src
|
|
WORKDIR /rmp_ws/src
|
|
COPY dependencies.arm64.repos .
|
|
COPY dependencies.amd64.repos .
|
|
|
|
# Choose correct sources for architecture:
|
|
# Copy platform-specific files
|
|
# Use if condition to copy different files for different platforms
|
|
#RUN echo "TARGETPLATFORM is $TARGETPLATFORM"
|
|
RUN echo "Hardware platform is: $(uname -m)"
|
|
RUN uname -a
|
|
|
|
RUN echo "update base 29.08.2023"
|
|
|
|
RUN if [ "$(uname -m)" = "x86_64" ]; then \
|
|
echo "Copying files for linux/amd64"; \
|
|
mv dependencies.amd64.repos dependencies.repos; \
|
|
else \
|
|
echo "Copying files for linux/arm64"; \
|
|
mv dependencies.arm64.repos dependencies.repos; \
|
|
fi
|
|
|
|
#RUN vcs import < dependencies.repos
|
|
RUN vcs import < dependencies.repos
|
|
|
|
# Build the base Colcon workspace, installing dependencies first.
|
|
WORKDIR /rmp_ws
|
|
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
|
|
&& apt-get update -y \
|
|
&& apt-get install -y --no-install-recommends \
|
|
ros-${ROS_DISTRO}-foxglove-bridge \
|
|
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
|
|
|
|
RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
|
|
&& colcon build --symlink-install
|
|
|
|
# Use Cyclone DDS as middleware and install xacro
|
|
RUN 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
|
|
|
|
ENV UNDERLAY_WS=${UNDERLAY_WS}
|
|
|
|
# Set up the entrypoint
|
|
COPY ./docker/entrypoint.sh /
|
|
RUN chmod +x /entrypoint.sh
|
|
|
|
# Update repository at the end of this build stage
|
|
RUN vcs pull src
|
|
|
|
ENTRYPOINT [ "/entrypoint.sh" ]
|
|
|
|
###########################################
|
|
# Overlay Image for RMP Control #
|
|
###########################################
|
|
FROM base AS overlay
|
|
|
|
# Create an overlay Colcon workspace
|
|
RUN echo "update overlay 26.09.2023-take-2"
|
|
RUN mkdir -p /overlay_ws/src
|
|
WORKDIR /overlay_ws/src
|
|
COPY overlay.repos .
|
|
RUN vcs import < overlay.repos
|
|
|
|
WORKDIR /overlay_ws
|
|
|
|
ENV DEBIAN_FRONTEND noninteractive
|
|
|
|
RUN source /rmp_ws/install/setup.bash \
|
|
&& apt-get update \
|
|
&& DEBIAN_FRONTEND=noninteractive apt-get install \
|
|
nano \
|
|
ros-humble-robot-localization \
|
|
ros-humble-joint-state-publisher \
|
|
ros-humble-laser-filters -y \
|
|
&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
RUN source /rmp_ws/install/setup.bash \
|
|
&& colcon build --symlink-install
|
|
|
|
# Set up the entrypoint
|
|
COPY ./docker/entrypoint.sh /
|
|
RUN chmod +x /entrypoint.sh
|
|
|
|
# Update repository at the end of this build stage
|
|
RUN vcs pull src
|
|
|
|
ENTRYPOINT [ "/entrypoint.sh" ]
|
|
|
|
###########################################
|
|
# GUI Additions for Ros2 #
|
|
###########################################
|
|
FROM overlay AS guis
|
|
|
|
# Install additional GUI tools
|
|
RUN source /rmp_ws/install/setup.bash \
|
|
&& apt-get update \
|
|
&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# Update repository at the end of this build stage
|
|
RUN vcs pull src
|
|
|
|
# Set up the entrypoint
|
|
ENTRYPOINT [ "/entrypoint.sh" ]
|
|
|
|
LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
|
|
|
|
|
|
### Added for bridging
|
|
# FROM ubuntu:focal as bridge
|
|
|
|
# SHELL ["/bin/bash", "-c"]
|
|
|
|
# ENV DEBIAN_FRONTEND noninteractive
|
|
# ENV ROS_DISTRO=foxy
|
|
|
|
# RUN locale
|
|
# RUN apt-get update && apt-get install -y locales
|
|
# RUN locale-gen en_US en_US.UTF-8
|
|
# RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
|
|
|
|
# ENV LANG=en_US.UTF-8
|
|
|
|
# RUN locale
|
|
|
|
# RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
# curl \
|
|
# gnupg2 \
|
|
# lsb-release \
|
|
# software-properties-common \
|
|
# && add-apt-repository universe
|
|
|
|
# RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
|
|
# RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
|
|
|
# # Install common packages
|
|
# RUN apt-get update && apt-get install -y \
|
|
# python3-flake8-docstrings \
|
|
# python3-pip \
|
|
# python3-pytest-cov \
|
|
# ros-dev-tools
|
|
|
|
# RUN mkdir -p /root/ros2_foxy/src
|
|
# WORKDIR /root/ros2_foxy
|
|
# RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/${ROS_DISTRO}/ros2.repos src
|
|
# #&& vcs import --input https://raw.githubusercontent.com/ros2/rmw_fastrtps/${ROS_DISTRO}/rmw_fastrtps.repos ~/ros2_humble/src \
|
|
# #&& vcs import --input https://raw.githubusercontent.com/ros2/rmw_cyclonedds/${ROS_DISTRO}/rmw_cyclonedds.repos ~/ros2_humble/src
|
|
|
|
# ARG RTI_NC_LICENSE_ACCEPTED=yes # must accept license agreement for RTI Connext DDS
|
|
|
|
# RUN apt-get update && apt-get upgrade -y \
|
|
# && rosdep init \
|
|
# && rosdep update \
|
|
# && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"
|
|
|
|
# RUN colcon build --symlink-install
|
|
|
|
# # Create Colcon workspace with external dependencies
|
|
# RUN mkdir -p /rmp_ws/src
|
|
# WORKDIR /rmp_ws/src
|
|
# COPY dependencies.arm64.repos .
|
|
# COPY dependencies.amd64.repos .
|
|
|
|
# # Choose correct sources for architecture:
|
|
# # Copy platform-specific files
|
|
# # Use if condition to copy different files for different platforms
|
|
# #RUN echo "TARGETPLATFORM is $TARGETPLATFORM"
|
|
# RUN echo "Hardware platform is: $(uname -m)"
|
|
# RUN uname -a
|
|
|
|
# RUN if [ "$(uname -m)" = "x86_64" ]; then \
|
|
# echo "Copying files for linux/amd64"; \
|
|
# mv dependencies.amd64.repos dependencies.repos; \
|
|
# else \
|
|
# echo "Copying files for linux/arm64"; \
|
|
# mv dependencies.arm64.repos dependencies.repos; \
|
|
# fi
|
|
|
|
# #RUN vcs import < dependencies.repos
|
|
# RUN vcs import < dependencies.repos;
|
|
|
|
# # Build the base Colcon workspace, installing dependencies first.
|
|
# WORKDIR /rmp_ws
|
|
# RUN source /home/root/ros2_foxy/install/setup.bash \
|
|
# && apt-get update -y \
|
|
# && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
|
|
|
|
# RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
|
|
# && colcon build --symlink-install
|
|
|
|
# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# # Set up the entrypoint
|
|
# COPY ./docker/entrypoint.sh /
|
|
# RUN chmod +x /entrypoint.sh
|
|
|
|
# ENTRYPOINT [ "/entrypoint.sh" ]
|
|
|
|
# This is an auto generated Dockerfile for ros:ros1-bridge
|
|
# generated from docker_images_ros2/ros1_bridge/create_ros_ros1_bridge_image.Dockerfile.em
|
|
FROM ros:eloquent-ros-base-bionic AS bridge
|
|
|
|
RUN apt update && apt install -y curl gnupg2 lsb-release
|
|
|
|
# setup sources.list
|
|
RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list
|
|
|
|
# setup keys
|
|
# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
|
|
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
|
|
|
|
ENV ROS1_DISTRO melodic
|
|
ENV ROS2_DISTRO eloquent
|
|
|
|
# install ros packages
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
ros-${ROS1_DISTRO}-ros-comm \
|
|
ros-${ROS1_DISTRO}-roscpp-tutorials \
|
|
ros-${ROS1_DISTRO}-rospy-tutorials \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# install ros2 packages
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
ros-${ROS2_DISTRO}-ros1-bridge \
|
|
ros-${ROS2_DISTRO}-demo-nodes-cpp \
|
|
ros-${ROS2_DISTRO}-demo-nodes-py \
|
|
ros-${ROS2_DISTRO}-rmw-cyclonedds-cpp \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
# install downstream packages
|
|
RUN apt-get update && apt-get install -y --no-install-recommends \
|
|
python-rosdep \
|
|
&& rm -rf /var/lib/apt/lists/*
|
|
|
|
RUN echo "update 04.09.2023-2"
|
|
# setup entrypoint
|
|
COPY ./docker/bridge_entrypoint.sh /
|
|
RUN chmod +x /bridge_entrypoint.sh
|
|
|
|
# Set up the entrypoint
|
|
ENTRYPOINT [ "/bridge_entrypoint.sh" ] |