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senceryazicisenceryazici
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add docker build system (#9)
* add docker build system * update secret * test scheduling * test schedule * test * Update build_base_images.yml * update * switch to single url * add manifest * sw to multi package * update syntax * fix variable name * update * update * remove PR triggers * add main docker build * update * change name * updates * remove obsolete script
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‎.github/workflows/build_and_push_base_images.yml

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name: base docker images
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# scheduled run every day at 00:00 GMT +03:00
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on:
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workflow_dispatch:
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schedule:
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- cron: "0 21 * * *"
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concurrency:
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group: base_images
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cancel-in-progress: true
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env:
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BASE_IMAGE_TAG: ghcr.io/itu-auv/auv-software-base
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jobs:
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build-and-push:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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host: [desktop, tegra]
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include:
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# configuration for desktop base image
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- base_image: ros:noetic-ros-base
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platform: linux/amd64
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architecture: amd64
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host: desktop
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# configuration for tegra base image
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- base_image: dustynv/ros:noetic-ros-base-l4t-r35.2.1
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platform: linux/arm64
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architecture: arm64
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host: tegra
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: ${{ matrix.platform }}
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Login to Github Containter Registry
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uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Build and push base image
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uses: docker/build-push-action@v5
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with:
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context: .
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file: ./docker/Dockerfile.auv-base
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platforms: ${{ matrix.platform }}
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push: true
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build-args: |
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BASE_IMAGE=${{ matrix.base_image }}
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cache-from: type=gha
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cache-to: type=gha,mode=max
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provenance: false
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sbom: false
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tags: |
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${{ env.BASE_IMAGE_TAG }}:latest-${{ matrix.architecture }}
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${{ env.BASE_IMAGE_TAG }}:${{ github.sha }}-${{ matrix.architecture }}
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create-manifests:
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runs-on: ubuntu-latest
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needs: [build-and-push]
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steps:
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- uses: actions/checkout@v4
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- name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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- name: Login to Github Containter Registry
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uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Create SHA manifest and push
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run: |
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docker manifest create \
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${{ env.BASE_IMAGE_TAG }}:${{ github.sha }} \
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--amend ${{ env.BASE_IMAGE_TAG }}:${{ github.sha }}-amd64 \
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--amend ${{ env.BASE_IMAGE_TAG }}:${{ github.sha }}-arm64
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docker manifest push ${{ env.BASE_IMAGE_TAG }}:${{ github.sha }}
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- name: Create latest manifest and push
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run: |
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docker manifest create \
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${{ env.BASE_IMAGE_TAG }}:latest \
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--amend ${{ env.BASE_IMAGE_TAG }}:latest-amd64 \
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--amend ${{ env.BASE_IMAGE_TAG }}:latest-arm64
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docker manifest push ${{ env.BASE_IMAGE_TAG }}:latest

‎.github/workflows/build_and_push_main_images.yml

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name: main docker images
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on:
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workflow_dispatch:
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pull_request:
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branches:
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- main
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push:
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branches:
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- main
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concurrency:
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group: ${{ github.workflow }}-${{ (github.event_name == 'pull_request' && github.event.pull_request.number) || github.ref }}
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cancel-in-progress: true
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env:
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BASE_IMAGE_TAG: ghcr.io/itu-auv/auv-software-base
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IMAGE_TAG: ghcr.io/itu-auv/auv-software
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jobs:
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build-and-push:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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host: [desktop, tegra]
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include:
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# configuration for desktop image
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- platform: linux/amd64
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architecture: amd64
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host: desktop
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# configuration for tegra image
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- platform: linux/arm64
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architecture: arm64
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host: tegra
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: ${{ matrix.platform }}
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Login to Github Containter Registry
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uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Build and push main image
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uses: docker/build-push-action@v5
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with:
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context: .
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file: ./docker/Dockerfile.auv
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platforms: ${{ matrix.platform }}
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push: ${{ github.event_name == 'push' }}
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build-args: |
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BASE_IMAGE=${{ env.BASE_IMAGE_TAG }}:latest-${{ matrix.architecture }}
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cache-from: type=gha
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cache-to: type=gha,mode=max
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provenance: false
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sbom: false
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tags: |
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${{ env.IMAGE_TAG }}:latest-${{ matrix.architecture }}
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${{ env.IMAGE_TAG }}:${{ github.sha }}-${{ matrix.architecture }}
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create-manifests:
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runs-on: ubuntu-latest
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needs: [build-and-push]
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if: github.event_name == 'push'
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steps:
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- uses: actions/checkout@v4
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- name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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- name: Login to Github Containter Registry
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uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Create SHA manifest and push
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run: |
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docker manifest create \
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${{ env.IMAGE_TAG }}:${{ github.sha }} \
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--amend ${{ env.IMAGE_TAG }}:${{ github.sha }}-amd64 \
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--amend ${{ env.IMAGE_TAG }}:${{ github.sha }}-arm64
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docker manifest push ${{ env.IMAGE_TAG }}:${{ github.sha }}
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- name: Create latest manifest and push
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run: |
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docker manifest create \
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${{ env.IMAGE_TAG }}:latest \
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--amend ${{ env.IMAGE_TAG }}:latest-amd64 \
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--amend ${{ env.IMAGE_TAG }}:latest-arm64
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docker manifest push ${{ env.IMAGE_TAG }}:latest

‎docker/Dockerfile.auv

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ARG BASE_IMAGE=ghcr.io/itu-auv/auv-software-jetson-base:latest
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FROM ${BASE_IMAGE}
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COPY . ./src/auv_software
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# Install dependencies
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RUN apt-get update && \
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vcs import src/ < src/auv_software/third_party.repos && \
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rosdep install --from-paths src --ignore-src -r -y && \
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rm -rf /var/lib/apt/lists/*
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# Build the workspace
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RUN . /opt/ros/noetic/setup.sh && \
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catkin build -- auv_software

‎docker/Dockerfile.auv-base

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# ARG BASE_IMAGE=nvcr.io/nvidia/l4t-ml:r35.2.1-py3
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ARG BASE_IMAGE=dustynv/ros:noetic-ros-base-l4t-r35.2.1
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FROM ${BASE_IMAGE}
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WORKDIR /auv_ws
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RUN apt-get update && \
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apt-get install -y \
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python3-vcstool \
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python3-catkin-tools && \
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# Install preliminary dependencies
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apt-get install -y \
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ros-noetic-robot-localization && \
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rm -rf /var/lib/apt/lists/*
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‎third_party.repos

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repositories:

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