Use Docker cache mounts for Apt lists

moveit2/Dockerfile

@@ -46,12 +46,20 @@ RUN mkdir ${SPACEROS_DIR}/src \
 ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
 
 # Make sure the latest versions of packages are installed
-RUN sudo apt-get update
-RUN sudo apt-get dist-upgrade -y
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
 RUN rosdep update
 
 # Install the various build and test tools
-RUN sudo apt install -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
   build-essential \
   clang-format \
   cmake \
@@ -92,7 +100,9 @@ RUN cd ${MOVEIT2_DIR}/src \
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # Get rosinstall_generator
-RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
 # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
 COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
@@ -116,7 +126,9 @@ RUN vcs import src < /tmp/moveit2_tutorials.repos
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # Install system dependencies
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
  && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
 
 # Apply a patch to octomap_msgs to work around a build issue
@@ -128,7 +140,9 @@ RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
 
 # Add a couple sample GUI apps for testing
-RUN sudo apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install -y \
   firefox \
   glmark2 \
   libcanberra-gtk3-0 \

renode_rcc/Dockerfile

@@ -2,7 +2,11 @@ FROM ubuntu:20.04
 WORKDIR /root
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update -y && \
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update -y && \
     apt-get install -y automake \
     autoconf \
     ca-certificates \
@@ -18,7 +22,9 @@ RUN apt-get update -y && \
 ARG RENODE_VERSION=1.13.0
 
 USER root
-RUN wget https://github.com/renode/renode/releases/download/v${RENODE_VERSION}/renode_${RENODE_VERSION}_amd64.deb && \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    wget https://github.com/renode/renode/releases/download/v${RENODE_VERSION}/renode_${RENODE_VERSION}_amd64.deb && \
     apt-get update && \
     apt-get install -y --no-install-recommends ./renode_${RENODE_VERSION}_amd64.deb python3-dev && \
     rm ./renode_${RENODE_VERSION}_amd64.deb

rtems/Dockerfile

@@ -2,7 +2,11 @@ FROM ubuntu:20.04
 WORKDIR /root
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update \
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update \
     && apt-get install -y \
         apt-utils \
         bison \

space_robots/Dockerfile

@@ -44,7 +44,11 @@ ENV GZ_VERSION fortress
 ARG DEBIAN_FRONTEND=noninteractive
 
 # Get rosinstall_generator
-RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
 # TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
 # Generate repos file for demo dependencies, excluding packages from Space ROS core.
@@ -64,10 +68,14 @@ WORKDIR ${DEMO_DIR}
 
 
 # Install libmongoc for development
-RUN sudo apt install libmongoc-dev -y
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
 
 # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
-RUN sudo apt install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
 RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
 RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
 RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
@@ -77,7 +85,9 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM
 COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
 RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
 
-RUN sudo apt-get update -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
 && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
 && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}

zynq_rtems/Dockerfile

@@ -2,7 +2,11 @@ FROM ubuntu:20.04
 WORKDIR /root
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update \
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update \
     && apt-get install -y \
         apt-utils \
         bison \