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image-building.md

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Building a modified image

Sometimes it is necessary to build an image with copter settings different from the release version of the image. There are several ways to do this.

Building preparation

Install Docker:

curl -fsSL https://get.docker.com -o get-docker.sh
sh get-docker.sh

Local build with modified Clover settings

  • Place the Clover configuration folders (launch, map and camera_info) in the builder/clever-config folder in the clever-show source directory.
    • All files from the launch folder will be copied to the /home/pi/catkin_ws/src/clever/clever/launch directory in the built image.
    • All files from the map folder will be copied to the /home/pi/catkin_ws/src/clever/aruco_pose/map directory in the built image.
    • All files from the camera_info folder will be copied to the /home/pi/catkin_ws/src/clever/clever/camera_info directory in the built image.
  • Build your image with Docker:
cd <source-dir>
sudo docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/mnt goldarte/img-tool:v0.5

Manual image customization

  • Extract the file with the downloaded image, navigate to the directory with this image, and enter the image collector console using the command:
cd <image-dir
sudo docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/mnt goldarte/img-tool:v0.5 img-chroot /mnt/<IMAGE>

where <IMAGE> is the name of the image file. In the opened terminal you can customize the image using standard programs (nano, git, cp, apt-get).

  • You can transfer external files to an image using the command:
sudo docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/mnt goldarte/img-tool:v0.5 img-chroot /mnt/<IMAGE> copy /mnt/<MOVE_FILE> <MOVE_TO>

where <MOVE_FILE> is the file to be moved to the image (location relative to the folder with the image, for example .../builder/assets/clever-show.service) and <MOVE_TO> is the path in the image where the file should be moved.

  • If the image does not have enough space for all the necessary files, you can extend the image with the command:
sudo docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/mnt goldarte/img-tool:v0.5 img-resize /mnt/<IMAGE> max <SIZE>

where <SIZE> is the size in bytes. For example, 5G would mean 5GB and 5M would mean 5MB.

  • After extending the image, you can compress it to the minimum size + 10MB with the command
sudo docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/mnt goldarte/img-tool:v0.5 img-resize /mnt/<IMAGE> min

Builder scripts modification

The article on changing the image building and custom building scripts is available here.