105 lines
3.1 KiB
Docker
105 lines
3.1 KiB
Docker
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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#ENV TARGETPLATFORM=$TARGETPLATFORM
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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 echo "TARGETPLATFORM is $TARGETPLATFORM"
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RUN echo "Hardware platform is: $(uname -m)"
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RUN uname -a
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RUN if [ "$(uname -m)" = "x86_64" ]; 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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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 ${ROS_DISTRO} -y
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RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& colcon build --symlink-install
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# Use Cyclone DDS as middleware and install xacro
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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ros-${ROS_DISTRO}-xacro \
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&& rm -rf /var/lib/apt/lists/*
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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 RMP 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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RUN echo "update overlay 10.08.2023-1"
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RUN source /rmp_ws/install/setup.bash \
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&& apt-get update \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN source /rmp_ws/install/setup.bash \
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&& colcon build --symlink-install
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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###########################################
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# GUI Additions for Ros2 #
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###########################################
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FROM overlay AS guis
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# Install additional GUI tools
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RUN source /rmp_ws/install/setup.bash \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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ENTRYPOINT [ "/entrypoint.sh" ]
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LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp |