123 lines
4.2 KiB
Docker
123 lines
4.2 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 ${ROS_DISTRO} -y \
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&& colcon build --symlink-install \
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&& rm -rf /var/lib/apt/lists/*
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# Use Cyclone DDS as middleware
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${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 Bot Mini 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 source /rmp_ws/install/setup.bash \
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&& colcon build --symlink-install \
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&& apt-get update \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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COPY ./controller_startup.sh /
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RUN chmod +x /controller_startup.sh
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COPY ./localization_startup.sh /
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RUN chmod +x /localization_startup.sh
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ENTRYPOINT [ "/entrypoint.sh" ]
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# ###########################################
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# # Packing it up into a smaller image by starting from scratch and copying related stuff #
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# ###########################################
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# FROM ros:${ROS_DISTRO}-ros-core AS final
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# COPY --from=overlay /overlay_ws/ /overlay_ws/
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# COPY --from=overlay /rmp_ws /rmp_ws
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# COPY --from=overlay /opt/ros /opt/ros/
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# COPY --from=overlay /usr/local/ /usr/local/
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# # COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/
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# # COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/
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# # COPY --from=overlay /lib/x86_64-linux-gnu/libpthread.so.0 /lib/x86_64-linux-gnu/
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# # COPY --from=overlay /lib/x86_64-linux-gnu/librt.so.1 /lib/x86_64-linux-gnu/
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# # COPY --from=overlay /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
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# # COPY --from=overlay /lib/x86_64-linux-gnu/libc.so.6 /lib/x86_64-linux-gnu/
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# # COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/
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# # Set up environment variables
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# ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
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# ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
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# # Copy necessary entrypoint and scripts
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# COPY ./docker/entrypoint.sh /
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# COPY ./controller_startup.sh /
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# COPY ./localization_startup.sh /
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# # Set permissions for scripts
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# RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
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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 |