262 lines
8.9 KiB
Bash
Executable File
262 lines
8.9 KiB
Bash
Executable File
#!/bin/bash -e
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#
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# Copyright (c) 2021-2022, NVIDIA CORPORATION. All rights reserved.
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#
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# NVIDIA CORPORATION and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
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source $ROOT/utils/print_color.sh
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# Builds image (ARG MODE=deploy) with base image key, then layers any roots or debians you specify,
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# then does rosdep install of a ROS WS if you specify one, then layers on suffix image key, and
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# sets a default command to run 'ros2 launch {launch package} {launch file}'
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# Example: installs two debians, copies three directories (includes ROS_WS/remaps one), runs package and launch file
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# ./docker_deploy.sh -i "libnvvpi3,tensorrt" -d /workspaces/isaac_ros-dev/tests -d /home/nvidia/scripts:/home/admin/scripts -w /workspaces/isaac_ros-dev/ros_ws -b "aarch64.ros2_humble" -p "isaac_ros_image_proc" -f "isaac_ros_image_flip.launch.py"
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# Read and parse config file if exists
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#
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# CONFIG_BASE_IMAGE_KEY (string, can be empty)
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if [[ -f "${ROOT}/.isaac_ros_common-config" ]]; then
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. "${ROOT}/.isaac_ros_common-config"
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fi
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# Override with config from user home directory if exists
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if [[ -f ~/.isaac_ros_common-config ]]; then
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. ~/.isaac_ros_common-config
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fi
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INCLUDE_DIRS=()
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INCLUDE_TARBALLS=()
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SET_LAUNCH_CMD=0
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CUSTOM_APT_SOURCES=()
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VALID_ARGS=$(getopt -o w:d:b:n:s:f:p:i:t:a: --long ros_ws:include_dir:base_image_key:name:suffix_image_key:launch_file:launch_package:install_debians:include_tarball:custom_apt_source -- "$@")
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eval set -- "$VALID_ARGS"
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while [ : ]; do
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case "$1" in
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-a | --custom_apt_source)
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CUSTOM_APT_SOURCES+=("$2")
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shift 2
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;;
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-b | --base_image_key)
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BASE_IMAGE_KEY="$2"
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shift 2
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;;
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-d | --include_dir)
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INCLUDE_DIRS+=("$2")
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shift 2
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;;
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-f | --launch_file)
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LAUNCH_FILE="$2"
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shift 2
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;;
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-i | --install_debians)
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INSTALL_DEBIANS_CSV="$2"
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shift 2
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;;
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-n | --name)
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DEPLOY_IMAGE_NAME="$2"
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shift 2
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;;
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-p | --launch_package)
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LAUNCH_PACKAGE="$2"
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shift 2
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;;
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-s | --suffix_image_key)
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SUFFIX_IMAGE_KEY="$2"
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shift 2
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;;
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-t | --include_tarball)
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INCLUDE_TARBALLS+=("$2")
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shift 2
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;;
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-w | --ros_ws)
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ROS_WS="$2"
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shift 2
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;;
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--) shift;
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break
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;;
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esac
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done
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# Check arguments
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PLATFORM="$(uname -m)"
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# Check that both launch file and package are set, or neither
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if [[ ! -z "${LAUNCH_FILE}${LAUNCH_PACKAGE}" ]]; then
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if [[ -z "${LAUNCH_FILE}" || -z "${LAUNCH_PACKAGE}" ]]; then
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print_error "Launch package (-p/--launch_package) and launch file (-f/--launch_file) must both be specified or both empty."
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exit 1
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fi
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fi
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if [[ ! -z "${LAUNCH_FILE}" ]]; then
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SET_LAUNCH_CMD=1
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fi
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if [[ -z "${BASE_IMAGE_KEY}" ]]; then
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BASE_IMAGE_KEY="${PLATFORM}.ros2_humble"
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print_warning "Base image key not specified, assuming $BASE_IMAGE_KEY"
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fi
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if [[ -z "${DEPLOY_IMAGE_NAME}" ]]; then
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DEPLOY_IMAGE_NAME="isaac_ros_deploy"
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print_warning "Deploy image name not specified, assuming $DEPLOY_IMAGE_NAME"
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fi
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if [[ ${#CUSTOM_APT_SOURCES[@]} -gt 100 ]]; then
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print_error "Unable to handle more than 100 custom apt sources."
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exit 1
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fi
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# Always include install directory of ROS workspace
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if [[ ! -z "${ROS_WS}" ]]; then
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SYMLINKS_IN_INSTALL_SPACE=$(find "${ROS_WS}/install" -type l)
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if [ -n "${SYMLINKS_IN_INSTALL_SPACE}" ]; then
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print_warning "Found symlinks in install space. Symlinked install spaces are not supported. Please use an isolated or merge install instead. Symlinks:"
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print_warning $SYMLINKS_IN_INSTALL_SPACE
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fi
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# Resolve ROS_WS_DEST from install directory setup.sh
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ROS_WS_DEST=/workspaces/isaac_ros-dev
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FILE_CONTENT=$(< "${ROS_WS}/install/setup.sh")
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REGEX="_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=([^[:space:]]*)"
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if [[ $FILE_CONTENT =~ $REGEX ]]; then
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ROS_WS_DEST="${BASH_REMATCH[1]%/*}"
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fi
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INCLUDE_DIRS+=( "$ROS_WS/install:${ROS_WS_DEST}/install" )
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fi
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# Always suffix .user to base image
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# If the configured key does not have .user, append it last
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if [[ $BASE_IMAGE_KEY != *".user"* ]]; then
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BASE_IMAGE_KEY="${BASE_IMAGE_KEY}.user"
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fi
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# Summarize final arguments for script
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print_info "Building deployable image ${DEPLOY_IMAGE_NAME}"
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print_info "Base image key: |${BASE_IMAGE_KEY}| / suffix image_key: |${SUFFIX_IMAGE_KEY}|"
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if [[ ! -z "${LAUNCH_FILE}" ]]; then
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print_info "Entrypoint to launch ${LAUNCH_PACKAGE}/${LAUNCH_FILE}"
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fi
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if [[ ! -z "${INSTALL_DEBIANS_CSV}" ]]; then
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print_info "Installing debians: ${INSTALL_DEBIANS_CSV}"
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fi
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if [[ ! -z "${ROS_WS}" ]]; then
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print_info "Installing ROS workspace at ${ROS_WS} to ${ROS_WS_DEST}"
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fi
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for INCLUDE_DIR in "${INCLUDE_DIRS[@]}"
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do
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print_info "Installing directory: ${INCLUDE_DIR}"
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done
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for INCLUDE_TARBALL in "${INCLUDE_TARBALLS[@]}"
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do
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print_info "Installing tarball: ${INCLUDE_TARBALL}"
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done
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for CUSTOM_APT_SOURCE in "${CUSTOM_APT_SOURCES[@]}"
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do
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print_info "Adding custom apt source: ${CUSTOM_APT_SOURCE}"
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done
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print_info "Begin building deployable image"
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# Setup on-exit cleanup tasks
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ON_EXIT=()
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function cleanup {
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for command in "${ON_EXIT[@]}"
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do
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$command
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done
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}
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trap cleanup EXIT
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pushd . >/dev/null
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cd $ROOT
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ON_EXIT+=("popd")
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# Setup staging temp directory
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TEMP_DIR=`mktemp -d -t isaac_ros_deploy_XXXXXXXX`
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ON_EXIT+=("rm -Rf ${TEMP_DIR}")
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pushd . >/dev/null
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ON_EXIT+=("popd")
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cd $TEMP_DIR
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cp -f $ROOT/deploy/_Dockerfile.deploy ${TEMP_DIR}/Dockerfile.deploy
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cp -f $ROOT/deploy/_Dockerfile.deploy_ws ${TEMP_DIR}/Dockerfile.deploy_ws
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cp -f $ROOT/deploy/_deploy-entrypoint.sh ${TEMP_DIR}/deploy-entrypoint.sh
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mkdir -p ${TEMP_DIR}/staging
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# Stage directories
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for INCLUDE_DIR in "${INCLUDE_DIRS[@]}"
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do
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SRC_DIR=${INCLUDE_DIR}
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DEST_DIR=${INCLUDE_DIR}
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INCLUDE_DIR_REMAP_ARRAY=(${INCLUDE_DIR//:/ })
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if [[ ${#INCLUDE_DIR_REMAP_ARRAY[@]} -gt 1 ]]; then
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SRC_DIR=${INCLUDE_DIR_REMAP_ARRAY[0]}
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DEST_DIR=${INCLUDE_DIR_REMAP_ARRAY[1]}
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fi
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print_info "Staging $SRC_DIR->$DEST_DIR"
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mkdir -p ${TEMP_DIR}/staging/${DEST_DIR#/}
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rsync -azL ${SRC_DIR}/ ${TEMP_DIR}/staging/${DEST_DIR#/}
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done
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# Stage tarballs
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for INCLUDE_TARBALL in "${INCLUDE_TARBALLS[@]}"
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do
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print_info "Staging tarball $INCLUDE_TARBALL"
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tar -xzvf $INCLUDE_TARBALL -C ${TEMP_DIR}/staging
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done
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# Delete all .git files and credentials
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find $TEMP_DIR -type d -name ".git" | xargs -d '\n' rm -rf
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BASE_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-base"
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INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-installed"
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# Stage custom apt sources
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for (( i=0; i<${#CUSTOM_APT_SOURCES[@]}; i++ )) do
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printf -v APT_SOURCE_IDX "%02d" $i
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CUSTOM_APT_SOURCE_FILE="${TEMP_DIR}/staging/etc/apt/sources.list.d/${APT_SOURCE_IDX}_custom_apt_source"
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mkdir -p ${CUSTOM_APT_SOURCE_FILE%/*}
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echo "${CUSTOM_APT_SOURCES[$i]}" >> ${CUSTOM_APT_SOURCE_FILE}
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done
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# Build base image
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print_info "Building deploy base image: ${BASE_DEPLOY_IMAGE_NAME} with key ${BASE_IMAGE_KEY}"
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$ROOT/build_image_layers.sh --image_key "${BASE_IMAGE_KEY}" --image_name "${BASE_DEPLOY_IMAGE_NAME}" --build_arg "MODE=deploy"
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# Install staged files and setup launch command
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print_info "Building install image with launch file ${LAUNCH_FILE} in package ${LAUNCH_PACKAGE}"
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$ROOT/build_image_layers.sh --image_key "deploy" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${BASE_DEPLOY_IMAGE_NAME}" --context_dir "${TEMP_DIR}" \
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--build_arg "MODE=deploy" --build_arg "SET_LAUNCH_CMD=${SET_LAUNCH_CMD}" --build_arg "LAUNCH_FILE=${LAUNCH_FILE}" --build_arg "LAUNCH_PACKAGE=${LAUNCH_PACKAGE}" --build_arg "INSTALL_DEBIANS_CSV=${INSTALL_DEBIANS_CSV}"
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# Optional, if ROS_WS, install rosdeps
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if [[ ! -z "${ROS_WS}" ]]; then
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print_info "Building ROS workspace image for path ${ROS_WS}"
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PREVIOUS_STAGE="${INSTALLED_DEPLOY_IMAGE_NAME}"
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INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-rosws"
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$ROOT/build_image_layers.sh --image_key "deploy_ws" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --context_dir "${TEMP_DIR}" --build_arg "MODE=deploy ROS_WS=${ROS_WS_DEST}"
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fi
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# Optional, build suffix image if specified
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if [[ ! -z "${SUFFIX_IMAGE_KEY}" ]]; then
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print_info "Building suffix deploy image for key ${SUFFIX_IMAGE_KEY}"
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PREVIOUS_STAGE="${INSTALLED_DEPLOY_IMAGE_NAME}"
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INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-suffix"
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$ROOT/build_image_layers.sh --image_key "SUFFIX_IMAGE_KEY" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --build_arg "MODE=deploy"
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fi
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# Retag last image
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docker tag "${INSTALLED_DEPLOY_IMAGE_NAME}" "${DEPLOY_IMAGE_NAME}"
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print_info "DONE, image: ${DEPLOY_IMAGE_NAME}"
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