Fix build dev image wokflow (#77)

* Comment out build-dev.sh contents * Update dev dockerfile filename * Update dev image tag * Clean up dockerfiles * Remove libspot and update to latest ompl commit * Rename ros images * Update dev image tag * Remove build-dev.sh, as dev image is built by ci * Remove ament_pep257
UBCSailbot · Jan 19, 2023 · 1e20422 · 1e20422
1 parent be91c4f
commit 1e20422
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diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -1,26 +1,26 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:ros_humble-ompl_d8375d8-amd64
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:fix-build-dev-image-ci
 
 # # Uncomment this section to install the apt packages used in the ROS 2 tutorials
 # ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt-get update && \
-#     apt-get install -y \
+# RUN apt-get update \
+#     && apt-get install -y \
 #         # Your package list here
 #         ros-humble-turtlesim \
 #     # Clean up
-#     && apt-get autoremove -y && \
-#     apt-get clean -y && \
-#     rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+#     && apt-get autoremove -y \
+#     && apt-get clean -y \
+#     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 # ENV DEBIAN_FRONTEND=
 
 # # Uncomment this section to install additional apt packages
 # ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt-get update && \
-#     apt-get install -y \
+# RUN apt-get update \
+#     && apt-get install -y \
 #         # Your package list here
 #     # Clean up
-#     && apt-get autoremove -y && \
-#     apt-get clean -y && \
-#     rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+#     && apt-get autoremove -y \
+#     && apt-get clean -y \
+#     && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 # ENV DEBIAN_FRONTEND=
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory

diff --git a/.devcontainer/base/base.Dockerfile b/.devcontainer/base/base.Dockerfile
@@ -1,17 +1,17 @@
-FROM ubuntu:22.04 AS ompl
+FROM ubuntu:22.04 AS ompl-source
 
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y git && \
-    apt-get autoremove -y && \
-    apt-get clean -y && \
-    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+RUN apt-get update \
+    && apt-get install -y git \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 RUN git clone https://github.com/ompl/ompl.git
 WORKDIR /ompl
-RUN git reset --hard d8375d8
+RUN git reset --hard 1bb0aa2
 
 # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
-FROM ubuntu:22.04 AS base
+FROM ubuntu:22.04 AS ros-base
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -54,16 +54,13 @@ ENV ROS_PYTHON_VERSION=3
 ENV ROS_VERSION=2
 ENV DEBIAN_FRONTEND=
 
-# Based on https://github.com/ompl/ompl/blob/d8375d842a7f016d64f27a81d6f95eaa83fbe595/scripts/docker/ompl.Dockerfile
-FROM base AS builder
+# Based on https://github.com/ompl/ompl/blob/1bb0aa2cae0d5e30eee6efca4a9d10a2da1971dc/scripts/docker/ompl.Dockerfile
+FROM ros-base AS ompl-builder
 # avoid interactive configuration dialog from tzdata, which gets pulled in
 # as a dependency
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y software-properties-common && \
-    add-apt-repository ppa:asiffer/libspot && \
-    apt-get update && \
-    apt-get install -y \
+RUN apt-get update \
+    && apt-get install -y \
         build-essential \
         castxml \
         cmake \
@@ -78,38 +75,36 @@ RUN apt-get update && \
         libexpat1 \
         libflann-dev \
         libode-dev \
-        libspot-dev \
         libtriangle-dev \
         ninja-build \
         pkg-config \
         python3-dev \
         python3-numpy \
         python3-pip \
         pypy3 \
-        wget && \
-    apt-get autoremove -y && \
-    apt-get clean -y && \
-    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+        wget \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 RUN pip3 install pygccxml pyplusplus
-COPY --from=ompl /ompl /ompl
+COPY --from=ompl-source /ompl /ompl
 WORKDIR /build
 RUN cmake \
         -DPYTHON_EXEC=/usr/bin/python3 \
         -DOMPL_REGISTRATION=OFF \
         -DCMAKE_INSTALL_PREFIX=/usr \
         -G Ninja \
-        /ompl && \
-    ninja update_bindings -j `nproc` && \
-    ninja -j `nproc` && \
-    ninja install
+        /ompl \
+    && ninja update_bindings -j `nproc` \
+    && ninja -j `nproc` \
+    && ninja install
+
+FROM ros-base as base
+LABEL org.opencontainers.image.source https://github.com/UBCSailbot/sailbot_workspace
 
-FROM base
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y software-properties-common && \
-    add-apt-repository ppa:asiffer/libspot && \
-    apt-get update && \
-    apt-get install -y \
+RUN apt-get update \
+    && apt-get install -y \
         build-essential \
         cmake \
         libboost-filesystem-dev \
@@ -121,18 +116,16 @@ RUN apt-get update && \
         libeigen3-dev \
         libflann-dev \
         libode-dev \
-        libspot-dev \
         libtriangle-dev \
         ninja-build \
         pkg-config \
         python3-dev \
         python3-numpy \
         python3-pip \
-        wget && \
-    apt-get autoremove -y && \
-    apt-get clean -y && \
-    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-COPY --from=builder /usr /usr
+        wget \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+ENV DEBIAN_FRONTEND=
 
-LABEL org.opencontainers.image.source https://github.com/UBCSailbot/sailbot_workspace
+COPY --from=ompl-builder /usr /usr
diff --git a/.devcontainer/base/build-base.sh b/.devcontainer/base/build-base.sh
@@ -2,20 +2,20 @@
 
 docker build . \
     --file base.Dockerfile \
-    --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-amd64 \
+    --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2-amd64 \
     --build-arg ARCH=amd64/
 
 # docker build . \
 #     --file base.Dockerfile \
-#     --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-arm64v8 \
+#     --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2-arm64v8 \
 #     --build-arg ARCH=arm64v8/
 
 # docker buildx build . \
 #     --file base.Dockerfile
-#     --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8 \
+#     --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2 \
 #     --platform linux/arm64/v8,linux/amd64 \
 #     # --push
 
-# docker manifest create ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-latest \
-#     --amend ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-amd64 \
-#     --amend ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-arm64v8
+# docker manifest create ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2-latest \
+#     --amend ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2-amd64 \
+#     --amend ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2-arm64v8
diff --git a/.devcontainer/dev/build-dev.sh b/.devcontainer/dev/build-dev.sh
diff --git a/.devcontainer/dev/dev.Dockerfile b/.devcontainer/dev/dev.Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-amd64 as dev
+FROM ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_1bb0aa2-amd64 as ros-dev
 
 # From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
 ENV DEBIAN_FRONTEND=noninteractive
@@ -47,7 +47,7 @@ RUN groupadd --gid $USER_GID $USERNAME \
 ENV DEBIAN_FRONTEND=
 ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
 
-FROM dev
+FROM ros-dev as dev
 
 ARG USERNAME=ros
 ARG HOME=/home/$USERNAME
@@ -57,11 +57,11 @@ RUN mkdir -p ${HOME}/.ros/log \
     && chown -R ${USERNAME} ${HOME}/.ros
 
 # persist bash history
-RUN SNIPPET="export PROMPT_COMMAND='history -a' && export HISTFILE=${HOME}/commandhistory/.bash_history" && \
-    mkdir ${HOME}/commandhistory && \
-    touch ${HOME}/commandhistory/.bash_history && \
-    chown ${USERNAME} ${HOME}/commandhistory/.bash_history && \
-    echo $SNIPPET >> "${HOME}/.bashrc"
+RUN SNIPPET="export PROMPT_COMMAND='history -a' && export HISTFILE=${HOME}/commandhistory/.bash_history" \
+    && mkdir ${HOME}/commandhistory \
+    && touch ${HOME}/commandhistory/.bash_history \
+    && chown ${USERNAME} ${HOME}/commandhistory/.bash_history \
+    && echo $SNIPPET >> "${HOME}/.bashrc"
 
 ARG ROS_WORKSPACE=/workspaces/sailbot_workspace
 
@@ -72,8 +72,8 @@ RUN chmod +x /sbin/update-bashrc ; chown ros /sbin/update-bashrc ; sync ; /bin/b
 # install clang, some clang tools, and protobuf for network systems
 # TODO: move required apt packages to base image
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y \
+RUN apt-get update \
+    && apt-get install -y \
         clang \
         clang-tidy \
         clangd \
@@ -82,9 +82,9 @@ RUN apt-get update && \
         libprotobuf-dev \
         llvm \
         protobuf-compiler \
-    && apt-get autoremove -y && \
-    apt-get clean -y && \
-    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 ENV DEBIAN_FRONTEND=
 
 # install git-delta
@@ -94,12 +94,12 @@ RUN rm git-delta-musl_0.14.0_amd64.deb
 
 # install other helpful apt packages
 ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y \
+RUN apt-get update \
+    && apt-get install -y \
         less \
         openssh-client \
         tmux \
-    && apt-get autoremove -y && \
-    apt-get clean -y && \
-    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 ENV DEBIAN_FRONTEND=
diff --git a/.github/workflows/build-dev-image.yaml b/.github/workflows/build-dev-image.yaml
@@ -31,6 +31,7 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           context: "{{defaultContext}}:.devcontainer/dev"
+          file: dev.Dockerfile
           push: true
           tags: ghcr.io/ubcsailbot/sailbot_workspace/dev:${{ inputs.tag }}
           cache-from: type=gha

diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
@@ -27,7 +27,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [lint_cmake, xmllint, flake8, pep257]
+          linter: [lint_cmake, xmllint, flake8]
     steps:
       - name: Checkout code
         uses: actions/checkout@v3