149 lines
4.8 KiB
Docker
149 lines
4.8 KiB
Docker
# FROM isaac_ros_dev-aarch64
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# This dockerfile can be configured via --build-arg
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# Build context must be the /navigation2 root folder for COPY.
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# Example build command:
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# export UNDERLAY_MIXINS="debug ccache lld"
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# export OVERLAY_MIXINS="debug ccache coverage-gcc lld"
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# docker build -t nav2:latest \
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# --build-arg UNDERLAY_MIXINS \
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# --build-arg OVERLAY_MIXINS ./
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ARG FROM_IMAGE=ros:rolling
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ARG UNDERLAY_WS=/opt/underlay_ws
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ARG OVERLAY_WS=/opt/overlay_ws
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# multi-stage for caching
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FROM $FROM_IMAGE AS cacher
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# clone underlay source
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ARG UNDERLAY_WS
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WORKDIR $UNDERLAY_WS/src
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# Clone the repositories
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RUN cd /home && mkdir nav2_ws && cd nav2_ws && mkdir src && cd src && \
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git clone -b master https://github.com/BehaviorTree/BehaviorTree.CPP.git && \
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git clone -b ros2 https://github.com/ros/angles.git && \
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git clone -b rolling https://github.com/ros-perception/vision_opencv.git && \
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git clone -b ros2 https://github.com/ros/bond_core.git && \
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git clone -b ros2 https://github.com/ros/diagnostics.git && \
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git clone -b ros2 https://github.com/ros-geographic-info/geographic_info.git && \
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git clone -b main https://github.com/ompl/ompl.git && \
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git clone -b ros2 https://github.com/cra-ros-pkg/robot_localization.git && \
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git clone -b 1.0.1 https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
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# copy overlay source
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ARG OVERLAY_WS
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WORKDIR $OVERLAY_WS/src
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RUN git clone https://github.com/ros-navigation/navigation2.git && git clone https://github.com/SteveMacenski/slam_toolbox.git -b ros2
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# copy manifests for caching
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WORKDIR /opt
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RUN find . -name "src" -type d \
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-mindepth 1 -maxdepth 2 -printf '%P\n' \
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| xargs -I % mkdir -p /tmp/opt/% && \
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find . -name "package.xml" \
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| xargs cp --parents -t /tmp/opt && \
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find . -name "COLCON_IGNORE" \
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| xargs cp --parents -t /tmp/opt || true
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# multi-stage for building
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FROM $FROM_IMAGE AS builder
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# config dependencies install
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ARG DEBIAN_FRONTEND=noninteractive
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RUN echo '\
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APT::Install-Recommends "0";\n\
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APT::Install-Suggests "0";\n\
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' > /etc/apt/apt.conf.d/01norecommend
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ENV PYTHONUNBUFFERED 1
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# install CI dependencies
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ARG RTI_NC_LICENSE_ACCEPTED=yes
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RUN apt-get update && \
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apt-get upgrade -y --with-new-pkgs && \
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apt-get install -y \
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ccache \
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lcov \
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lld \
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python3-pip \
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ros-$ROS_DISTRO-rmw-fastrtps-cpp \
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ros-$ROS_DISTRO-rmw-connextdds \
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ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
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ros-$ROS_DISTRO-rmw-cyclonedds-cpp\
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ros-$ROS_DISTRO-rosidl-generator-dds-idl \
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&& pip3 install --break-system-packages \
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fastcov \
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git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
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git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
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&& rosdep update \
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&& colcon mixin update \
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&& colcon metadata update \
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&& rm -rf /var/lib/apt/lists/*
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# install underlay dependencies
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ARG UNDERLAY_WS
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ENV UNDERLAY_WS $UNDERLAY_WS
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WORKDIR $UNDERLAY_WS
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COPY --from=cacher /tmp/$UNDERLAY_WS ./
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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--skip-keys " \
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slam_toolbox \
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" \
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--ignore-src \
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&& rm -rf /var/lib/apt/lists/*
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# build underlay source
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COPY --from=cacher $UNDERLAY_WS ./
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ARG UNDERLAY_MIXINS="release ccache lld"
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ARG CCACHE_DIR="$UNDERLAY_WS/.ccache"
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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colcon cache lock && \
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colcon build \
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--symlink-install \
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--mixin $UNDERLAY_MIXINS \
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--event-handlers console_direct+ \
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--cmake-args -DCMAKE_BUILD_TYPE=Release
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# install overlay dependencies
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ARG OVERLAY_WS
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ENV OVERLAY_WS $OVERLAY_WS
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WORKDIR $OVERLAY_WS
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COPY --from=cacher /tmp/$OVERLAY_WS ./
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RUN . $UNDERLAY_WS/install/setup.sh && \
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apt-get update && rosdep install -q -y \
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--from-paths src \
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--skip-keys " \
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slam_toolbox \
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"\
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--ignore-src \
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&& rm -rf /var/lib/apt/lists/*
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# multi-stage for testing
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FROM builder AS tester
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# build overlay source
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COPY --from=cacher $OVERLAY_WS ./
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ARG OVERLAY_MIXINS="release ccache lld"
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ARG CCACHE_DIR="$OVERLAY_WS/.ccache"
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RUN . $UNDERLAY_WS/install/setup.sh && \
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colcon cache lock && \
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colcon build \
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--symlink-install \
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--mixin $OVERLAY_MIXINS \
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--cmake-args -DCMAKE_BUILD_TYPE=Release
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# source overlay from entrypoint
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RUN sed --in-place \
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's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
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/ros_entrypoint.sh
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# copy the go2py ros2 nodes
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COPY ros2_nodes/m-explore-ros2 /home/nav2_ws/src/m-explore-ros2
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# COPY ros2_nodes/sportmode_nav2 /home/nav2_ws/src/sportmode_nav2
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# RUN cd /home/nav2_ws && source /opt/ros/rolling/setup.bash && \
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# colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
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ENTRYPOINT ["/bin/bash"]
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