263 lines
8.3 KiB
Docker
263 lines
8.3 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 echo "update base 26.09.2023 - test"
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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: $(uname -m)"
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RUN uname -a
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RUN echo "update base 29.08.2023"
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RUN if [ "$(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/${ROS_DISTRO}/setup.bash \
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&& apt-get update -y \
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&& apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-foxglove-bridge \
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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 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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# 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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# Update repository at the end of this build stage
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RUN vcs pull src
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ENTRYPOINT [ "/entrypoint.sh" ]
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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 echo "update overlay 26.09.2023-take-2"
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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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ENV DEBIAN_FRONTEND noninteractive
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RUN source /rmp_ws/install/setup.bash \
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&& apt-get update \
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&& DEBIAN_FRONTEND=noninteractive apt-get install nano ros-humble-robot-localization ros-humble-joint-state-publisher -y \
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&& rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
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&& rm -rf /var/lib/apt/lists/*
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RUN source /rmp_ws/install/setup.bash \
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&& colcon build --symlink-install
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# Set up the entrypoint
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COPY ./docker/entrypoint.sh /
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RUN chmod +x /entrypoint.sh
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# Update repository at the end of this build stage
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RUN vcs pull src
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ENTRYPOINT [ "/entrypoint.sh" ]
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###########################################
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# GUI Additions for Ros2 #
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###########################################
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FROM overlay AS guis
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# Install additional GUI tools
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RUN source /rmp_ws/install/setup.bash \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
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&& rm -rf /var/lib/apt/lists/*
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# Update repository at the end of this build stage
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RUN vcs pull src
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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
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### Added for bridging
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# FROM ubuntu:focal as bridge
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# SHELL ["/bin/bash", "-c"]
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# ENV DEBIAN_FRONTEND noninteractive
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# ENV ROS_DISTRO=foxy
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# RUN locale
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# RUN apt-get update && apt-get install -y locales
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# RUN locale-gen en_US en_US.UTF-8
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# RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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# ENV LANG=en_US.UTF-8
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# RUN locale
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# RUN apt-get update && apt-get install -y --no-install-recommends \
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# curl \
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# gnupg2 \
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# lsb-release \
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# software-properties-common \
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# && add-apt-repository universe
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# RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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# 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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# # Install common packages
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# RUN apt-get update && apt-get install -y \
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# python3-flake8-docstrings \
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# python3-pip \
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# python3-pytest-cov \
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# ros-dev-tools
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# RUN mkdir -p /root/ros2_foxy/src
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# WORKDIR /root/ros2_foxy
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# RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/${ROS_DISTRO}/ros2.repos src
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# #&& vcs import --input https://raw.githubusercontent.com/ros2/rmw_fastrtps/${ROS_DISTRO}/rmw_fastrtps.repos ~/ros2_humble/src \
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# #&& vcs import --input https://raw.githubusercontent.com/ros2/rmw_cyclonedds/${ROS_DISTRO}/rmw_cyclonedds.repos ~/ros2_humble/src
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# ARG RTI_NC_LICENSE_ACCEPTED=yes # must accept license agreement for RTI Connext DDS
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# RUN apt-get update && apt-get upgrade -y \
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# && rosdep init \
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# && rosdep update \
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# && 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"
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# RUN colcon build --symlink-install
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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 /home/root/ros2_foxy/install/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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# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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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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# This is an auto generated Dockerfile for ros:ros1-bridge
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# generated from docker_images_ros2/ros1_bridge/create_ros_ros1_bridge_image.Dockerfile.em
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FROM ros:eloquent-ros-base-bionic AS bridge
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RUN apt update && apt install -y curl gnupg2 lsb-release
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# setup sources.list
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RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list
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# setup keys
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# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
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ENV ROS1_DISTRO melodic
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ENV ROS2_DISTRO eloquent
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# install ros packages
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS1_DISTRO}-ros-comm \
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ros-${ROS1_DISTRO}-roscpp-tutorials \
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ros-${ROS1_DISTRO}-rospy-tutorials \
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&& rm -rf /var/lib/apt/lists/*
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# install ros2 packages
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS2_DISTRO}-ros1-bridge \
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ros-${ROS2_DISTRO}-demo-nodes-cpp \
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ros-${ROS2_DISTRO}-demo-nodes-py \
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ros-${ROS2_DISTRO}-rmw-cyclonedds-cpp \
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&& rm -rf /var/lib/apt/lists/*
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# install downstream packages
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RUN apt-get update && apt-get install -y --no-install-recommends \
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python-rosdep \
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&& rm -rf /var/lib/apt/lists/*
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RUN echo "update 04.09.2023-2"
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# setup entrypoint
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COPY ./docker/bridge_entrypoint.sh /
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RUN chmod +x /bridge_entrypoint.sh
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# Set up the entrypoint
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ENTRYPOINT [ "/bridge_entrypoint.sh" ] |