51 lines
1.9 KiB
Docker
51 lines
1.9 KiB
Docker
FROM ros:humble-ros-base AS build
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SHELL ["/bin/bash", "-lc"]
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WORKDIR /ws
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# Install build dependencies
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COPY apt-requirements.txt /tmp/requirements.txt
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RUN apt-get update \
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&& xargs -a /tmp/requirements.txt apt-get install -y --no-install-recommends \
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&& rm -rf /var/lib/apt/lists/* /tmp/requirements.txt
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# Copy package manifest and install rosdeps
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COPY package.xml ./package.xml
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RUN add-apt-repository multiverse || true
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RUN source /opt/ros/humble/setup.bash \
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&& rosdep update || true \
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&& rosdep install -i --from-paths . --rosdistro humble -y || true
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# Copy sources and build
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COPY . .
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RUN source /opt/ros/humble/setup.bash \
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&& CCACHE_DIR=/ccache mkdir -p /ccache \
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&& chmod 777 /ccache \
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&& colcon build --parallel-workers $(nproc) \
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--cmake-args -G Ninja -DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
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FROM ros:humble-ros-base
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WORKDIR /ws
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## Install minimal runtime packages required by the built binaries
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COPY apt-runtime.txt /tmp/apt-runtime.txt
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RUN apt-get update \
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&& xargs -a /tmp/apt-runtime.txt apt-get install -y --no-install-recommends \
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&& rm -rf /var/lib/apt/lists/* /tmp/apt-runtime.txt
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COPY --from=build /ws/install /ws/install
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COPY docker-entrypoint.sh /ros_entrypoint.sh
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RUN chmod +x /ros_entrypoint.sh
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ENV ROS_DISTRO=humble
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## Make ROS and workspace overlays available for interactive shells
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash || true" > /etc/profile.d/ros2.sh \
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&& echo "[ -f /ws/install/setup.bash ] && source /ws/install/setup.bash" >> /etc/profile.d/ros2.sh \
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&& chmod +x /etc/profile.d/ros2.sh
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# Also source in non-login interactive bash shells
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash || true" >> /etc/bash.bashrc \
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&& echo "[ -f /ws/install/setup.bash ] && source /ws/install/setup.bash" >> /etc/bash.bashrc
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["image2rtsp.launch.py"]
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