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edoras.Dockerfile
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edoras.Dockerfile
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################################################
# Build ros-base #
# (ROS2 image with default packages) #
################################################
FROM osrf/ros:jazzy-desktop AS ros-base
ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
# Needed for OpenGL fix for Rviz to display
&& apt-get install -y software-properties-common \
&& add-apt-repository -y ppa:kisak/kisak-mesa \
&& apt update \
&& apt -y upgrade \
&& apt-get install -y \
python3-pip \
libnlopt-dev \
libnlopt-cxx-dev \
# Note: ros-jazzy-desktop is needed for ARM base image, but is already available for nominal -desktop image
ros-jazzy-desktop \
ros-jazzy-xacro \
ros-jazzy-joint-state-publisher \
ros-jazzy-srdfdom \
ros-jazzy-rqt* \
ros-jazzy-ament-cmake-test \
&& rm -rf /var/lib/apt/lists/*
RUN pip install cfdp --break-system-packages
# Switch to bash shell
SHELL ["/bin/bash", "-c"]
# Create a brash user
ENV USERNAME=ubuntu
ENV CODE_DIR=/code
# Dev container arguments
ARG USER_UID=1000
ARG USER_GID=${USER_UID}
# Create new user and home directory
#RUN groupadd --gid ${USER_GID} ${USERNAME} \
#&& useradd --uid ${USER_UID} --gid ${USER_GID} --create-home ${USERNAME} \
#&& echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
#&& chmod 0440 /etc/sudoers.d/${USERNAME} \
#&& mkdir -p ${CODE_DIR} \
#&& chown -R ${USER_UID}:${USER_GID} ${CODE_DIR}
RUN echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
&& chmod 0440 /etc/sudoers.d/${USERNAME} \
&& mkdir -p ${CODE_DIR} \
&& chown -R ${USER_UID}:${USER_GID} ${CODE_DIR}
USER ${USERNAME}
WORKDIR ${CODE_DIR}
################################################
# Build rosgsw-dev #
################################################
FROM ros-base AS rosgsw-dev
ENV DEBIAN_FRONTEND=noninteractive
RUN sudo apt-get update && sudo apt-get install -y \
libnlopt-dev \
libnlopt-cxx-dev \
ros-jazzy-xacro \
ros-jazzy-joint-state-publisher \
ros-jazzy-srdfdom \
ros-jazzy-joint-state-publisher-gui \
ros-jazzy-geometric-shapes \
ros-jazzy-rqt-robot-steering \
ros-jazzy-rqt* \
libdwarf-dev \
libelf-dev \
libsqlite3-dev \
sqlitebrowser \
&& sudo rm -rf /var/lib/apt/lists/*
# Set up sourcing
COPY --chown=${USERNAME}:${USERNAME} config/rosgsw_entrypoint.sh ${CODE_DIR}/entrypoint.sh
RUN echo 'source ${CODE_DIR}/entrypoint.sh' >> ~/.bashrc
# Get ready with edoras workspace
RUN mkdir -p ${CODE_DIR}/edoras
WORKDIR ${CODE_DIR}/edoras
################################################
# Build rosfsw-dev #
################################################
FROM rosgsw-dev AS rosfsw-dev
ENV DEBIAN_FRONTEND=noninteractive
RUN sudo apt-get update && sudo apt-get install -y \
ros-jazzy-controller-interface \
ros-jazzy-realtime-tools \
ros-jazzy-control-toolbox \
ros-jazzy-geometric-shapes \
ros-jazzy-controller-manager \
ros-jazzy-joint-trajectory-controller \
ros-jazzy-rqt* \
ignition-fortress \
ros-jazzy-ros-gz-sim \
ros-jazzy-ros-gz-bridge \
ros-jazzy-robot-localization \
ros-jazzy-interactive-marker-twist-server \
ros-jazzy-twist-mux \
ros-jazzy-joy-linux \
ros-jazzy-imu-tools \
ros-jazzy-ign-ros2-control \
ros-jazzy-joint-state-broadcaster \
ros-jazzy-diff-drive-controller \
ros-jazzy-clearpath-gz \
&& sudo rm -rf /var/lib/apt/lists/*
# Build a rover_ws into container
WORKDIR ${CODE_DIR}
RUN mkdir -p ${CODE_DIR}/rover_ws
WORKDIR ${CODE_DIR}/rover_ws
# Copy rover repos and robot config file required
COPY --chown=${USERNAME}:${USERNAME} ./config/rover.repos rover.repos
RUN mkdir src && vcs import src < rover.repos
# Copy the sample rover yaml to top workspace
# https://docs.clearpathrobotics.com/docs/ros/tutorials/simulator/install/
RUN cp src/clearpath_config/clearpath_config/sample/w200/w200_default.yaml robot.yaml
# Build the rover workspace
RUN source /opt/ros/jazzy/setup.bash && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# Set up sourcing
COPY --chown=${USERNAME}:${USERNAME} ./config/rosfsw_entrypoint.sh ${CODE_DIR}/entrypoint.sh
# Not needed, line in bashrc was added in building of rosgsw-dev
#RUN echo 'source ${CODE_DIR}/entrypoint.sh' >> ~/.bashrc
# Source from rover_ws
WORKDIR ${CODE_DIR}/brash
##################################################
# Build rosgsw (Production)
##################################################
FROM rosgsw-dev AS rosgsw
# Copy brash=
COPY --chown=${USERNAME}:${USERNAME} brash ${CODE_DIR}/brash
# Build the brash workspace
WORKDIR ${CODE_DIR}/brash
RUN source /opt/ros/jazzy/setup.bash && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# Build juicer
#COPY --chown=${USERNAME}:${USERNAME} juicer ${CODE_DIR}/juicer
#WORKDIR ${CODE_DIR}/juicer
#RUN make
# Set workspace
WORKDIR ${CODE_DIR}/brash
##################################################
# Build rosfsw (Production)
##################################################
FROM rosfsw-dev AS rosfsw
# Copy brash
COPY --chown=${USERNAME}:${USERNAME} brash ${CODE_DIR}/brash
# Build the brash workspace
WORKDIR ${CODE_DIR}/brash
RUN source ${CODE_DIR}/rover_ws/install/setup.bash && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# Build juicer
#COPY --chown=${USERNAME}:${USERNAME} juicer ${CODE_DIR}/juicer
#WORKDIR ${CODE_DIR}/juicer
#RUN make
# Set workspace
WORKDIR ${CODE_DIR}/brash