-
Notifications
You must be signed in to change notification settings - Fork 15
/
Dockerfile
266 lines (230 loc) · 11.5 KB
/
Dockerfile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
ARG BASE_IMAGE
############ dependencies ######################################################
FROM ${BASE_IMAGE} as dependencies
USER root
SHELL ["/bin/bash", "-c"]
ARG DEBIAN_FRONTEND=noninteractive
# create workspace folder structure
ENV WORKSPACE=/docker-ros/ws
WORKDIR $WORKSPACE
RUN mkdir -p src/target src/upstream src/downstream
# setup keys and sources.list for ROS packages
ARG ROS_DISTRO
ENV ROS_DISTRO=${ROS_DISTRO}
RUN test -n "$ROS_DISTRO" || (echo "missing build-arg: ROS_DISTRO" && false)
RUN apt-get update && \
apt-get install -y curl gnupg && \
if [[ "$ROS_DISTRO" == "noetic" ]] && ! cat /etc/apt/sources.list /etc/apt/sources.list.d/* | grep "http://packages.ros.org/ros/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main"; then \
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list ; \
elif ! cat /etc/apt/sources.list /etc/apt/sources.list.d/* | grep "http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main"; then \
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null ; \
fi && \
rm -rf /var/lib/apt/lists/*
# install ROS bootstrapping tools
RUN apt-get update && \
apt-get install -y \
git \
python3-rosdep \
python3-vcstool \
ros-${ROS_DISTRO}-ros-core \
&& rm -rf /var/lib/apt/lists/*
# copy contents of repository
COPY . src/target
# clone .repos upstream dependencies
ARG GIT_HTTPS_SERVER=
ARG GIT_HTTPS_USER=
ARG GIT_HTTPS_PASSWORD=
RUN if [[ -n ${GIT_HTTPS_SERVER} ]]; then \
git config --global url.https://${GIT_HTTPS_USER}:${GIT_HTTPS_PASSWORD}@${GIT_HTTPS_SERVER}.insteadOf https://${GIT_HTTPS_SERVER} ; \
fi
ARG GIT_SSH_PRIVATE_KEY=
ARG GIT_SSH_KNOWN_HOST_KEYS=
RUN if [[ -n ${GIT_SSH_PRIVATE_KEY} ]]; then \
echo -e ${GIT_SSH_PRIVATE_KEY} > /tmp/ssh_id && \
chmod 400 /tmp/ssh_id && \
git config --global core.sshCommand "ssh -i /.ssh_key" && \
mkdir -p ~/.ssh && \
touch ~/.ssh/known_hosts && \
echo -e ${GIT_SSH_KNOWN_HOST_KEYS} >> ~/.ssh/known_hosts ; \
fi
COPY docker/docker-ros/docker/recursive_vcs_import.py /usr/local/bin
RUN apt-get update && \
apt-get install -y python-is-python3 && \
rm -rf /var/lib/apt/lists/*
ARG VCS_IMPORT_FILE=".repos"
ARG ENABLE_RECURSIVE_VCS_IMPORT="true"
RUN if [[ $ENABLE_RECURSIVE_VCS_IMPORT == 'true' ]]; then \
/usr/local/bin/recursive_vcs_import.py src src/upstream ; \
elif [[ -f src/target/${VCS_IMPORT_FILE} ]]; then \
vcs import --recursive src/upstream < src/target/${VCS_IMPORT_FILE} ; \
fi
# remove blacklisted packages from workspace
ARG BLACKLISTED_PACKAGES_FILE="docker/blacklisted-packages.txt"
ARG ENABLE_RECURSIVE_BLACKLISTED_PACKAGES="false"
RUN echo "colcon list -p --base-paths src/ --packages-select \\" >> $WORKSPACE/.remove-packages.sh && \
if [[ $ENABLE_RECURSIVE_BLACKLISTED_PACKAGES == 'true' ]]; then \
find . -type f -name $(basename ${BLACKLISTED_PACKAGES_FILE}) -exec sed '$a\' {} \; | awk '{print " " $0 " \\"}' >> $WORKSPACE/.remove-packages.sh ; \
elif [[ -f src/target/${BLACKLISTED_PACKAGES_FILE} ]]; then \
cat src/target/${BLACKLISTED_PACKAGES_FILE} | awk '{print " " $0 " \\"}' >> $WORKSPACE/.remove-packages.sh ; \
fi && \
echo ";" >> $WORKSPACE/.remove-packages.sh && \
chmod +x $WORKSPACE/.remove-packages.sh && \
$WORKSPACE/.remove-packages.sh 2> /dev/null | xargs rm -rf
# create install script with list of rosdep dependencies
RUN echo "set -e" >> $WORKSPACE/.install-dependencies.sh && \
source /opt/ros/$ROS_DISTRO/setup.bash && \
apt-get update && \
rosdep init || true && \
rosdep update --rosdistro ${ROS_DISTRO} && \
export OS="ubuntu:$(lsb_release -c | awk '{print $2}')" && \
if [[ "$ROS_DISTRO" = "rolling" && "$OS" = "ubuntu:focal" ]]; then export OS="ubuntu:jammy"; fi && \
set -o pipefail && \
ROS_PACKAGE_PATH=$(pwd):$ROS_PACKAGE_PATH rosdep install --os $OS -y --simulate --from-paths src --ignore-src \
| sed -E "s/'apt-get install -y ([^']+)' \(alternative 1\/1\)/apt-get install -y \1/" \
| tee -a $WORKSPACE/.install-dependencies.sh && \
chmod +x $WORKSPACE/.install-dependencies.sh && \
rm -rf /var/lib/apt/lists/*
# add additionally specified apt dependencies to install script
ARG ADDITIONAL_DEBS_FILE="docker/additional-debs.txt"
ARG ENABLE_RECURSIVE_ADDITIONAL_DEBS="false"
RUN echo "apt-get install -y \\" >> $WORKSPACE/.install-dependencies.sh && \
set -o pipefail && \
if [[ $ENABLE_RECURSIVE_ADDITIONAL_DEBS == 'true' ]]; then \
find . -type f -name $(basename ${ADDITIONAL_DEBS_FILE}) -exec sed '$a\' {} \; | awk '{print " " $0 " \\"}' >> $WORKSPACE/.install-dependencies.sh ; \
elif [[ -f src/target/${ADDITIONAL_DEBS_FILE} ]]; then \
cat src/target/${ADDITIONAL_DEBS_FILE} | awk '{print " " $0 " \\"}' >> $WORKSPACE/.install-dependencies.sh ; \
fi && \
echo ";" >> $WORKSPACE/.install-dependencies.sh
# add additionally specified pip dependencies to install script
ARG ADDITIONAL_PIP_FILE="docker/additional-pip-requirements.txt"
ARG ENABLE_RECURSIVE_ADDITIONAL_PIP="false"
RUN echo "pip install pip \\" >> $WORKSPACE/.install-dependencies.sh && \
set -o pipefail && \
if [[ $ENABLE_RECURSIVE_ADDITIONAL_PIP == 'true' ]]; then \
find . -type f -name $(basename ${ADDITIONAL_PIP_FILE}) -exec sed '$a\' {} \; | awk '{print " " $0 " \\"}' >> $WORKSPACE/.install-dependencies.sh ; \
elif [[ -f src/target/${ADDITIONAL_PIP_FILE} ]]; then \
cat src/target/${ADDITIONAL_PIP_FILE} | awk '{print " " $0 " \\"}' >> $WORKSPACE/.install-dependencies.sh ; \
fi && \
echo ";" >> $WORKSPACE/.install-dependencies.sh
# add custom installation commands to install script
ARG CUSTOM_SCRIPT_FILE="docker/custom.sh"
ARG ENABLE_RECURSIVE_CUSTOM_SCRIPT="false"
RUN if [[ $ENABLE_RECURSIVE_CUSTOM_SCRIPT == 'true' ]]; then \
find . -type f -name $(basename ${CUSTOM_SCRIPT_FILE}) -exec sed '$a\' {} >> $WORKSPACE/.install-dependencies.sh \; ; \
elif [[ -f src/target/${CUSTOM_SCRIPT_FILE} ]]; then \
cat src/target/${CUSTOM_SCRIPT_FILE} >> $WORKSPACE/.install-dependencies.sh ; \
fi
# remove additional-files folder from copied repository content to avoid redundancies
ARG ADDITIONAL_FILES_DIR="docker/additional-files"
RUN rm -rf src/target/${ADDITIONAL_FILES_DIR}
############ dependencies-install ##############################################
FROM ${BASE_IMAGE} AS dependencies-install
ARG TARGETARCH
ARG GIT_HTTPS_URL
ARG GIT_HTTPS_USER
ARG GIT_HTTPS_PASSWORD
ENV TARGETARCH=${TARGETARCH}
ENV DOCKER_ROS=1
USER root
SHELL ["/bin/bash", "-c"]
ARG DEBIAN_FRONTEND=noninteractive
# user setup
ENV DOCKER_USER=dockeruser
ENV DOCKER_UID=
ENV DOCKER_GID=
# ROS setup
ENV RCUTILS_COLORIZED_OUTPUT=1
ENV WORKSPACE=/docker-ros/ws
ENV COLCON_HOME=$WORKSPACE/.colcon
WORKDIR $WORKSPACE
# setup keys and sources.list for ROS packages
ARG ROS_DISTRO
ENV ROS_DISTRO=${ROS_DISTRO}
RUN test -n "$ROS_DISTRO" || (echo "missing build-arg: ROS_DISTRO" && false)
RUN apt-get update && \
apt-get install -y curl gnupg && \
if [[ "$ROS_DISTRO" == "noetic" ]] && ! cat /etc/apt/sources.list /etc/apt/sources.list.d/* | grep "http://packages.ros.org/ros/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main"; then \
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list ; \
elif ! cat /etc/apt/sources.list /etc/apt/sources.list.d/* | grep "http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main"; then \
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null ; \
fi && \
rm -rf /var/lib/apt/lists/*
# copy contents of files-folder into image
ARG ADDITIONAL_FILES_DIR="docker/additional-files"
ADD ${ADDITIONAL_FILES_DIR}* /docker-ros/additional-files/
# install essential build tools and dependencies for install script
RUN apt-get update && \
apt-get install -y \
build-essential \
gosu \
python-is-python3 \
python3-pip \
ros-${ROS_DISTRO}-ros-core \
&& rm -rf /var/lib/apt/lists/*
# configure pip
RUN python -m pip config --global set global.break-system-packages true
# copy install script from dependencies stage
COPY --from=dependencies $WORKSPACE/.install-dependencies.sh $WORKSPACE/.install-dependencies.sh
# install dependencies
RUN apt-get update && \
$WORKSPACE/.install-dependencies.sh && \
rm -rf /var/lib/apt/lists/*
# install ROS CLI tools
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
apt-get update && \
if [[ "$ROS_VERSION" == "1" ]]; then \
apt-get install -y \
python3-catkin-tools ; \
elif [[ "$ROS_VERSION" == "2" ]]; then \
apt-get install -y \
python3-colcon-common-extensions ; \
fi \
&& rm -rf /var/lib/apt/lists/*
# install desired ROS 2 middleware
ARG RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
if [[ "$ROS_VERSION" == "2" ]]; then \
apt-get update && \
RMW_PACKAGE=ros-$ROS_DISTRO-$(echo $RMW_IMPLEMENTATION | tr '_' '-') && \
apt-get install -y $RMW_PACKAGE && \
rm -rf /var/lib/apt/lists/* ; \
fi
# source ROS
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
# set entrypoint
ENV TINI_VERSION v0.19.0
ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini-${TARGETARCH} /tini
RUN chmod +x /tini
COPY docker/docker-ros/docker/entrypoint.sh /
ENTRYPOINT ["/tini", "--", "/entrypoint.sh"]
############ dev ###############################################################
FROM dependencies-install as dev
# copy contents of repository from dependencies stage
COPY --from=dependencies $WORKSPACE/src $WORKSPACE/src
CMD ["bash"]
############ build #############################################################
FROM dev as build
# build ROS workspace
RUN if [[ -x "$(command -v colcon)" ]]; then \
source /opt/ros/${ROS_DISTRO}/setup.bash && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ; \
elif [[ -x "$(command -v catkin)" ]]; then \
catkin config --install --extend /opt/ros/${ROS_DISTRO} && \
catkin build -DCMAKE_BUILD_TYPE=Release --force-color --no-status --summarize ; \
fi
############ run ###############################################################
FROM dependencies-install as run
# copy ROS install space from build stage
COPY --from=build $WORKSPACE/install install
RUN ldconfig
RUN echo "[[ -f $WORKSPACE/devel/setup.bash ]] && source $WORKSPACE/devel/setup.bash" >> ~/.bashrc && \
echo "[[ -f $WORKSPACE/install/setup.bash ]] && source $WORKSPACE/install/setup.bash" >> ~/.bashrc
# setup command
ARG COMMAND
ENV DEFAULT_CMD=${COMMAND}
CMD bash -c "${DEFAULT_CMD}"