50 lines
1.4 KiB
Docker
50 lines
1.4 KiB
Docker
# Copyright 2023 James Pace
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# SPDX-License-Identifier: Apache-2.0
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FROM docker.io/library/ros:rolling as base
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# Set up common stuff needed in the builder and the
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# deploy container.
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ENV DEBIAN_FRONTEND noninteractive
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RUN apt update -y && \
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apt upgrade -y && \
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rm -rf /var/lib/apt/lists/*
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# Set up user.
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# Touch file in home directory so we don't get bothered first call to sudo
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RUN useradd -m -G sudo -s /bin/bash -u 1000 j7s && \
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bash -c 'echo "%sudo ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers.d/container' && \
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chmod 0440 /etc/sudoers.d/container && \
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touch /home/j7s/.sudo_as_admin_successful
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# Switch user.
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USER j7s
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# Set up rosdep
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RUN rosdep update
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# Compile as the builder.
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FROM base AS builder
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RUN mkdir -p /home/j7s/workspace/
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COPY --chown=1000:1000 src/ /home/j7s/workspace/src
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WORKDIR /home/j7s/workspace
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RUN sudo apt update -y && \
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rosdep install --ignore-src --simulate --reinstall --default-yes --from-path src > deps.bash && \
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bash deps.bash && \
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sudo rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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colcon build
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# Build deploy image.
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FROM base AS deploy
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COPY --from=builder /home/j7s/workspace/install /opt/j7s
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COPY --from=builder /home/j7s/workspace/deps.bash /opt/j7s/deps.bash
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RUN sudo apt update -y && \
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bash /opt/j7s/deps.bash && \
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sudo rm -rf /var/lib/apt/lists/*
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# Setup entrypoint.
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COPY ./docker/entrypoint.bash /entrypoint.bash
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ENTRYPOINT ["/entrypoint.bash"]
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CMD ["bash"]
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