Fix

husarion · Jan 5, 2024 · 3e1f00e · 3e1f00e
1 parent bf7e295
commit 3e1f00e
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Showing 3 changed files with 13 additions and 65 deletions.
diff --git a/.github/workflows/build-docker-image-hardware.yaml b/.github/workflows/build-docker-image-hardware.yaml
@@ -16,6 +16,7 @@ jobs:
       matrix:
         include:
           - ros-distro: noetic
+            rosbot-fw-release: 0.16.2
             platforms: "linux/amd64, linux/arm64"
 
     steps:
@@ -47,6 +48,7 @@ jobs:
         push: true
         build-args: |
           ROS_DISTRO=${{ matrix.ros-distro }}
+          ROSBOT_FW_RELEASE=${{ matrix.rosbot-fw-release }}
         tags: husarion/rosbot:${{ matrix.ros-distro }}
         cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}
         cache-to: type=inline
@@ -61,6 +63,7 @@ jobs:
         push: true
         build-args: |
           ROS_DISTRO=${{ matrix.ros-distro }}
+          ROSBOT_FW_RELEASE=${{ matrix.rosbot-fw-release }}
         tags: husarion/rosbot:${{ matrix.ros-distro }}-${{ github.head_ref || github.ref_name }}
         cache-from: type=registry,ref=husarion/rosbot:${{ matrix.ros-distro }}-${{ github.head_ref || github.ref_name }}
         cache-to: type=inline
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
@@ -1,66 +1,8 @@
-ARG ROS_DISTRO=melodic
+ARG ROS_DISTRO=noetic
+ARG ROSBOT_FW_RELEASE=0.16.2
 
 
-## =========================== STM32 firmware===============================
-FROM --platform=linux/amd64 ubuntu:20.04 AS stm32_firmware_builder
-
-ARG ROSBOT_FW_RELEASE=0.16.1
-ARG ROS_NOETIC_MSGS=0
-
-SHELL ["/bin/bash", "-c"]
-
-# ENV PIO_VERSION="5.1.0"
-RUN apt update && apt install -y \
-		python3 \
-		python3-pip \
-		git \
-		wget \
-		tree
-
-# https://docs.platformio.org/en/latest/core/installation.html#system-requirements
-# RUN pip3 install -U platformio==${PIO_VERSION}
-RUN pip3 install -U platformio
-
-RUN git clone https://github.com/husarion/rosbot-stm32-firmware.git --branch ${ROSBOT_FW_RELEASE} && \
-	mkdir -p ~/.platformio/packages/framework-mbed/features/ && \
-	cp rosbot-stm32-firmware/.mbedignore ~/.platformio/packages/framework-mbed/features/.mbedignore
-
-WORKDIR /rosbot-stm32-firmware
-
-RUN git submodule update --init --recursive
-
-# RUN wget https://github.com/husarion/rosbot-stm32-firmware/archive/refs/tags/${ROSBOT_FW_RELEASE}.tar.gz && \
-# 	tar -xf *.tar.gz && \
-# 	mv rosbot-stm32-firmware* rosbot-stm32-firmware && \
-# 	mkdir -p ~/.platformio/packages/framework-mbed/features/ && \
-# 	cp rosbot-stm32-firmware/.mbedignore ~/.platformio/packages/framework-mbed/features/.mbedignore
-
-WORKDIR /rosbot-stm32-firmware
-
-RUN export LC_ALL=C.UTF-8 && \
-	export LANG=C.UTF-8 && \
-	pio project init -e core2_diff -O \
-	"build_flags= \
-		-I\$PROJECTSRC_DIR/TARGET_CORE2 \
-		-DPIO_FRAMEWORK_MBED_RTOS_PRESENT \
-		-DPIO_FRAMEWORK_EVENT_QUEUE_PRESENT \
-		-DMBED_BUILD_PROFILE_RELEASE \
-		-DJOINT_STATES_ENABLE=1 \
-		-DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \
-		-DKINEMATIC_TYPE=0" && \
-	pio project init -e core2_mec -O \
-	"build_flags= \
-		-I\$PROJECTSRC_DIR/TARGET_CORE2 \
-		-DPIO_FRAMEWORK_MBED_RTOS_PRESENT \
-		-DPIO_FRAMEWORK_EVENT_QUEUE_PRESENT \
-		-DMBED_BUILD_PROFILE_RELEASE \
-		-DJOINT_STATES_ENABLE=1 \
-		-DROS_NOETIC_MSGS=${ROS_NOETIC_MSGS} \
-		-DKINEMATIC_TYPE=1" && \
-	pio run
-
 ## =========================== ROS package builder ===============================
-
 FROM ros:$ROS_DISTRO-ros-core AS pkg-builder
 
 SHELL ["/bin/bash", "-c"]
@@ -91,7 +33,7 @@ WORKDIR /ros_ws
 # clone robot github repositories
 RUN mkdir -p src && \
 	git clone https://github.com/husarion/rosbot_ros.git --branch=melodic src/rosbot_ros && \
-	git clone https://github.com/husarion/rosbot_ekf.git --branch=master src/rosbot_ekf 
+	git clone https://github.com/husarion/rosbot_ekf.git --branch=master src/rosbot_ekf
 
 # build ROS workspace
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
@@ -101,9 +43,12 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
 ## =========================== Final Stage ===============================
 FROM ros:$ROS_DISTRO-ros-core
 
+ARG ROSBOT_FW_RELEASE
+
 SHELL ["/bin/bash", "-c"]
 
 RUN apt update && apt install -y \
+		curl \
 		python3-pip \
 		stm32flash \
 		ros-$ROS_DISTRO-rosserial-python \
@@ -128,8 +73,8 @@ RUN apt update && apt install -y \
 COPY --from=pkg-builder /ros_ws /ros_ws
 
 # copy firmware built in previous stage
-COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_diff/firmware.bin /root/firmware_diff.bin
-COPY --from=stm32_firmware_builder /rosbot-stm32-firmware/.pio/build/core2_mec/firmware.bin /root/firmware_mecanum.bin
+RUN curl -LJO https://github.com/husarion/rosbot-stm32-firmware/releases/download/$ROSBOT_FW_RELEASE/firmware_diff.bin -o /root/firmware_diff.bin && \
+	curl -LJO https://github.com/husarion/rosbot-stm32-firmware/releases/download/$ROSBOT_FW_RELEASE/firmware_bin.bin -o /root/firmware_mecanum.bin
 
 # copy scripts
 COPY ./flash-firmware.py /

diff --git a/Dockerfile.simulation b/Dockerfile.simulation
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=melodic
+ARG ROS_DISTRO=noetic
 
 FROM osrf/ros:$ROS_DISTRO-desktop
 
@@ -34,4 +34,4 @@ RUN apt-get update && \
 # replace entrypoint
 ENTRYPOINT ["/ros_ws/ros_entrypoint.sh"]
 
-CMD ["bash"]
+CMD ["bash"]