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Refactor bake config file, much more readable, structured and extendi…
…ble, modify Makefile, add initial Dockerfile.deploy
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| ARG BASE_IMAGE=osrf/ros:humble-simulation | ||
| FROM $BASE_IMAGE | ||
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| USER root | ||
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| # Essentials | ||
| RUN apt-get update && apt-get install --no-install-recommends -y -o Dpkg::Options::="--force-overwrite" \ | ||
| ros-humble-navigation2 \ | ||
| ros-humble-nav2-bringup \ | ||
| ros-humble-rviz2 \ | ||
| ros-humble-teleop-twist-keyboard \ | ||
| ros-humble-dynamixel-sdk \ | ||
| ros-humble-can-msgs \ | ||
| ros-humble-ruckig \ | ||
| ros-humble-laser-filters \ | ||
| ros-humble-domain-bridge \ | ||
| ros-humble-rmw-cyclonedds-cpp \ | ||
| ros-humble-ros2-control \ | ||
| ros-humble-ros2-controllers \ | ||
| ros-humble-rqt-common-plugins \ | ||
| ros-humble-webots-ros2 \ | ||
| ros-humble-dynamixel-workbench-toolbox \ | ||
| ros-humble-behaviortree-cpp \ | ||
| libopencv-dev \ | ||
| # TODO: Question which of these are necessary | ||
| python3-pip \ | ||
| python3-pil \ | ||
| alsa \ | ||
| libxshmfence1 \ | ||
| libgtk-3-dev \ | ||
| git \ | ||
| git-lfs \ | ||
| curl \ | ||
| wget \ | ||
| vim \ | ||
| rsync \ | ||
| dialog \ | ||
| fuse | ||
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| RUN python3 -m pip install scipy transforms3d | ||
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| #HOTFIX: https://github.com/ros-controls/ros2_controllers/issues/482 | ||
| RUN wget -O /tmp/diff_drive_controller.deb http://snapshots.ros.org/humble/2022-11-23/ubuntu/pool/main/r/ros-humble-diff-drive-controller/ros-humble-diff-drive-controller_2.12.0-1jammy.20221108.202153_amd64.deb && \ | ||
| apt install -y --allow-downgrades /tmp/diff_drive_controller.deb && \ | ||
| rm -f /tmp/diff_drive_controller.deb | ||
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| # User config | ||
| COPY ./config/bashrc /tmp/bashrc | ||
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| RUN mkdir -p /memristor && \ | ||
| cat /tmp/bashrc >> /memristor/.bashrc && \ | ||
| rm -f /tmp/bashrc && \ | ||
| mkdir -p /memristor/ros2_ws/src/mep3 | ||
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| # Set the working directory | ||
| WORKDIR /root/ros2_ws | ||
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| RUN git clone https://github.com/memristor/mep3 src/mep3 | ||
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| RUN touch src/mep3/mep3_simulation/COLCON_IGNORE | ||
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| RUN apt-get update && \ | ||
| apt-get install -y python3-vcstool && \ | ||
| rosdep update && \ | ||
| rosdep install --from-paths src --ignore-src -r -y | ||
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| # Build the packages | ||
| RUN . /opt/ros/humble/setup.sh && \ | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo | ||
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| ENTRYPOINT ["/bin/bash", "-c", "source install/local_setup.bash && exec bash"] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,45 +1,45 @@ | ||
| group "default" { | ||
| targets = ["base", "vnc"] | ||
| } | ||
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| variable "COMMIT_SHA" {} | ||
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| variable "GITHUB_REPO" {} | ||
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| target "base" { | ||
| context = "." | ||
| dockerfile = "Dockerfile.base" | ||
| tags = [ | ||
| // If GITHUB_REPO is not set, then we are building locally | ||
| equal("", GITHUB_REPO) ? "mep3:latest" : "", | ||
| equal("", GITHUB_REPO) && notequal("", COMMIT_SHA) ? "mep3:${COMMIT_SHA}" : "", | ||
| notequal("", GITHUB_REPO) ? "ghcr.io/${GITHUB_REPO}/mep3:latest" : "", | ||
| notequal("", GITHUB_REPO) && notequal("", COMMIT_SHA) ? "ghcr.io/${GITHUB_REPO}:${COMMIT_SHA}" : "" | ||
| ] | ||
| // Enable layer caching | ||
| cache-from = ["type=gha,scope=mep3"] | ||
| cache-to = ["type=gha,mode=max,scope=mep3"] | ||
| // for reference, can be passed the same way as --build-arg, this can be completely omitted, and in this configuration will default to values specified in Dockerfile | ||
| args = { | ||
| DEBIAN_FRONTEND = null, | ||
| UID = null, | ||
| variable "TARGET_IMAGE_NAME_MAPPING" { | ||
| default = { | ||
| "base" = "mep3" | ||
| "vnc" = "mep3-vnc" | ||
| "deploy" = "mep3-deploy" | ||
| } | ||
| } | ||
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| target "vnc" { | ||
| context = "." | ||
| dockerfile = "Dockerfile.vnc" | ||
| contexts = { | ||
| mep3 = "target:base" | ||
| variable CONTEXTS_MAPPING { | ||
| default = { | ||
| "vnc" = { | ||
| "mep3" = "target:mep3" | ||
| } | ||
| } | ||
| tags = [ | ||
| } | ||
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| function "eval_tags" { | ||
| params = [image_name, commit_sha, github_repo] | ||
| result = [ | ||
| // If GITHUB_REPO is not set, then we are building locally | ||
| equal("", GITHUB_REPO) ? "mep3-vnc:latest" : "", | ||
| equal("", GITHUB_REPO) && notequal("", COMMIT_SHA) ? "mep3-vnc:${COMMIT_SHA}" : "", | ||
| notequal("", GITHUB_REPO) ? "ghcr.io/${GITHUB_REPO}/mep3-vnc:latest" : "", | ||
| notequal("", GITHUB_REPO) && notequal("", COMMIT_SHA) ? "ghcr.io/${GITHUB_REPO}-vnc:${COMMIT_SHA}" : "" | ||
| equal("", github_repo) ? image_name : "", | ||
| equal("", github_repo) && notequal("", commit_sha) ? "${image_name}:${commit_sha}" : "", | ||
| // otherwise, we are building on GitHub Actions | ||
| notequal("", github_repo) ? "ghcr.io/${github_repo}/${image_name}:latest" : "", | ||
| notequal("", github_repo) && notequal("", commit_sha) ? "ghcr.io/${github_repo}:${commit_sha}" : "" | ||
| ] | ||
| // Enable layer caching | ||
| cache-from = ["type=gha,scope=mep3-vnc"] | ||
| cache-to = ["type=gha,mode=max,scope=mep3-vnc"] | ||
| } | ||
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| target "default" { | ||
| name = lookup(TARGET_IMAGE_NAME_MAPPING, tgt, "") | ||
| matrix = { | ||
| tgt = keys(TARGET_IMAGE_NAME_MAPPING) | ||
| } | ||
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| tags = eval_tags(lookup(TARGET_IMAGE_NAME_MAPPING, tgt, ""), COMMIT_SHA, GITHUB_REPO) | ||
| dockerfile = "Dockerfile.${tgt}" | ||
| cache-to = [format("%s%s", "type=gha,mode=max,scope=", lookup(TARGET_IMAGE_NAME_MAPPING, tgt, ""))] | ||
| cache-from = [format("%s%s", "type=gha,scope=", lookup(TARGET_IMAGE_NAME_MAPPING, tgt, ""))] | ||
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| contexts = lookup(CONTEXTS_MAPPING, tgt, {}) | ||
| } |