# This file describes an image that has everything necessary installed to build a target ROS workspace
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# It uses QEmu user-mode emulation to perform dependency installation and build
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# Assumptions: qemu-user-static directory is present in docker build context
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ARG BASE_IMAGE
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FROM ${BASE_IMAGE}
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ARG ROS_VERSION
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ARG ROS_DISTRO
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SHELL ["/bin/bash", "-c"]
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# Set timezone
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RUN echo 'Etc/UTC' > /etc/timezone && \
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ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime
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RUN apt-get update && apt-get install --no-install-recommends -y \
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tzdata \
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locales \
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vim \
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&& rm -rf /var/lib/apt/lists/*
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# Set locale
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RUN echo 'en_US.UTF-8 UTF-8' >> /etc/locale.gen && \
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locale-gen && \
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update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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ENV LANG en_US.UTF-8
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ENV LC_ALL C.UTF-8
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# Add the ros apt repo
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RUN apt-get update && apt-get install --no-install-recommends -y \
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ca-certificates \
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curl wget git \
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dirmngr \
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gnupg2 \
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lsb-release \
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&& rm -rf /var/lib/apt/lists/*
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RUN if [[ "${ROS_VERSION}" == "ros2" ]]; then \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg; \
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echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/${ROS_VERSION}/ubuntu `lsb_release -cs` main" | \
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tee /etc/apt/sources.list.d/ros2.list > /dev/null; \
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else \
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curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - ; \
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echo "deb http://packages.ros.org/${ROS_VERSION}/ubuntu `lsb_release -cs` main" \
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> /etc/apt/sources.list.d/${ROS_VERSION}-latest.list; \
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fi
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# ROS dependencies
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RUN apt-get update && apt-get install --no-install-recommends -y \
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build-essential \
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cmake libpcre2-dev \
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python3-colcon-common-extensions \
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python3-colcon-mixin \
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python3-dev \
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python3-pip \
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python3-lark-parser \
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&& rm -rf /var/lib/apt/lists/*
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RUN python3 -m pip install -U \
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setuptools
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# Install some pip packages needed for testing ROS 2
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RUN if [[ "${ROS_VERSION}" == "ros2" ]]; then \
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python3 -m pip install -U \
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flake8 \
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flake8-blind-except \
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flake8-builtins \
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flake8-class-newline \
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flake8-comprehensions \
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flake8-deprecated \
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flake8-docstrings \
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flake8-import-order \
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flake8-quotes \
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pytest-repeat \
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pytest-rerunfailures \
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pytest \
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pytest-cov \
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pytest-runner \
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; fi
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# Install Fast-RTPS dependencies for ROS 2
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RUN if [[ "${ROS_VERSION}" == "ros2" ]]; then \
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apt-get update && apt-get install --no-install-recommends -y \
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libasio-dev \
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libtinyxml2-dev \
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&& rm -rf /var/lib/apt/lists/* \
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; fi
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RUN python3 -m pip install -U vcstool colcon-common-extensions numpy
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# Run arbitrary user setup (copy data and run script)
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# COPY user-custom-data/ custom-data/
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# COPY user-custom-setup .
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# RUN chmod +x ./user-custom-setup && \
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# ./user-custom-setup && \
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# rm -rf /var/lib/apt/lists/*
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# mixins defines building environments
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COPY mixins /root
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RUN mkdir -p /buildroot /opt/ros/${ROS_DISTRO}/src
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WORKDIR /opt/ros/${ROS_DISTRO}
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# Disable packages
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# - rviz, X11/desktop required, if you want rviz, trying arm Ubuntu 18.04
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# - turtlesim, QT5 required
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RUN wget https://raw.githubusercontent.com/ros2/ros2/${ROS_DISTRO}/ros2.repos && \
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vcs-import src < ros2.repos
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RUN git clone https://github.com/ros2/cross_compile.git -b 0.9.0 /tmp/cross_compile && \
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cp /tmp/cross_compile/ros_cross_compile/qemu/qemu-aarch64-static /usr/bin && \
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cp /tmp/cross_compile/ros_cross_compile/qemu/qemu-arm-static /usr/bin && \
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rm -rf /tmp/cross_compile
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RUN if [[ -e src/ros-visualization ]]; then \
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touch src/ros-visualization/COLCON_IGNORE ; \
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echo "IGNORE ros-visualization"; \
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fi
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RUN if [[ -e src/ros2/rviz ]]; then \
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touch src/ros2/rviz/COLCON_IGNORE ; \
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echo "IGNORE ros2/rviz"; \
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fi
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RUN if [[ -e src/ros/ros_tutorials/turtlesim ]]; then \
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touch src/ros/ros_tutorials/turtlesim/COLCON_IGNORE; \
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echo "IGNORE ros_tutorials/turtlesim"; \
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fi
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RUN if [[ -e src/eclipse-iceoryx ]]; then \
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touch src/eclipse-iceoryx/COLCON_IGNORE; \
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echo "IGNORE eclipse-iceoryx"; \
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fi
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RUN if [[ -e src/eclipse-cyclonedds ]]; then \
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touch src/eclipse-cyclonedds/COLCON_IGNORE; \
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echo "IGNORE eclipse-cyclonedds"; \
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fi
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COPY build_ros2.sh /opt/ros/${ROS_DISTRO}
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RUN ln -s /opt/ros/${ROS_DISTRO}/build_ros2.sh /root
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RUN sed -i "s/^ROS_DISTRO=.*$/ROS_DISTRO=${ROS_DISTRO}/" /root/build_ros2.sh
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ENTRYPOINT ["/root/build_ros2.sh"]
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