build glim_ros2

.gitignore

@@ -1,3 +1,4 @@
 packages/ubuntu2004/*
 packages/ubuntu2204/*
-packages/ubuntu2404/*
+packages/ubuntu2404/*
+packages/local_ppa/*

packages/.dockerignore

@@ -0,0 +1 @@
+*.sh

packages/build_glim_ros2.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+# docker build -f glim_ros2/docker/deb/Dockerfile.ros2 . -t glim_ros2
+
+mkdir -p local_ppa
+cp -R ../ubuntu2004 local_ppa/
+cp -R ../ubuntu2204 local_ppa/
+cp -R ../ubuntu2404 local_ppa/
+cp -R ../setup_ppa.sh local_ppa/
+
+platforms=("amd64")
+declare -A pids
+declare -A labels
+
+configurations=(
+  "ubuntu2404 jazzy nvidia/cuda:12.5.1-devel-ubuntu24.04 Dockerfile.ros2"
+  "ubuntu2404 jazzy nvidia/cuda:12.5.1-devel-ubuntu24.04 Dockerfile.ros2 -cuda12.5"
+  "ubuntu2204 humble nvidia/cuda:12.5.1-devel-ubuntu22.04 Dockerfile.ros2"
+)
+
+for platform in "${platforms[@]}"; do
+  for configuration in "${configurations[@]}"; do
+    config=($configuration)
+    ubuntu_label=${config[0]}
+    ros_distro=${config[1]}
+    cuda_base_image=${config[2]}
+    dockerfile=${config[3]}
+    package_suffix=${config[4]}
+
+    name="glim_ros2:$ubuntu_label$package_suffix.$platform"
+    echo $name
+    docker buildx build \
+      -t $name \
+       -f glim_ros2/docker/deb/${dockerfile} \
+      --platform linux/$platform \
+      --build-arg="BASE_IMAGE=$cuda_base_image" \
+      --build-arg="ROS_DISTRO=$ros_distro" \
+      --build-arg="PACKAGE_SUFFIX=$package_suffix" \
+      . &
+
+    pids[$name]=$!
+    labels[$name]=$ubuntu_label
+  done
+done
+
+for key in "${!pids[@]}"; do
+  echo "Waiting for $key pid=${pids[$key]} label=${labels[$key]}"
+  wait ${pids[$key]}
+done
+
+for key in "${!labels[@]}"; do
+  echo "Extracting deb file from $key"
+  label=${labels[$key]}
+  docker run --rm -v $(realpath $label):/output $key /bin/bash -c "cp /root/*.deb /output/"
+done

packages/build_gtsam_points.sh

@@ -1,7 +1,5 @@
 #!/bin/bash
 platforms=("amd64" "arm64")
-ubuntu_images=("jammy" "noble")
-ubuntu_labels=("ubuntu2204" "ubuntu2404")
 
 declare -A pids
 declare -A labels

setup_ppa.sh

@@ -24,8 +24,8 @@ fi
 
 # Add PPA to sources.list.d/koide3_ppa.list
 echo "ubuntu_label=$ubuntu_label"
-echo curl -s --compressed "https://koide3.github.io/ppa/$ubuntu_label/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
-echo echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/$ubuntu_label ./" | tee /etc/apt/sources.list.d/koide3_ppa.list
+echo 'curl -s --compressed "https://koide3.github.io/ppa/$ubuntu_label/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null'
+echo 'echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/$ubuntu_label ./" | tee /etc/apt/sources.list.d/koide3_ppa.list'
 
 curl -s --compressed "https://koide3.github.io/ppa/$ubuntu_label/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
 echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/$ubuntu_label ./" | tee /etc/apt/sources.list.d/koide3_ppa.list