Merge pull request #95 from usdot-fhwa-stol/release/cabin

Release/cabin

.circleci/config.yml

@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/autoware.ai:carma-system-4.1.0
+      - image: usdotfhwastol/autoware.ai:carma-system-4.2.0
         user: carma
         environment:
           TERM: xterm # use xterm to get full display output from build

Dockerfile

@@ -12,15 +12,19 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastol/autoware.ai:carma-system-4.1.0 as setup
+FROM usdotfhwastol/autoware.ai:carma-system-4.2.0 as setup
 
+ARG ROS1_PACKAGES=""
+ENV ROS1_PACKAGES=${ROS1_PACKAGES}
+ARG ROS2_PACKAGES=""
+ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/
 RUN ~/src/docker/checkout.bash
 RUN ~/src/docker/install.sh
 
-FROM usdotfhwastol/autoware.ai:carma-system-4.1.0
+FROM usdotfhwastol/autoware.ai:carma-system-4.2.0
 
 
 ARG BUILD_DATE="NULL"

docker/build-image.sh

@@ -44,9 +44,59 @@ while [[ $# -gt 0 ]]; do
             COMPONENT_VERSION_STRING=develop
             shift
             ;;
+        --ros-1-packages|--ros1)
+            ROS1_PACKAGES=""
+            shift
+            ;;
+        --ros-2-packages|--ros2)
+            ROS2_PACKAGES=""
+            shift
+            ;;
+        *)
+            # Var test based on Stack Overflow question: https://stackoverflow.com/questions/5406858/difference-between-unset-and-empty-variables-in-bash
+            # Asker: green69
+            # Answerer: geekosaur
+            if [ "${ROS2_PACKAGES+set}" = "set" ]; then
+                ROS2_PACKAGES="$ROS2_PACKAGES $arg"
+            elif [ "${ROS1_PACKAGES+set}" = "set" ]; then
+                ROS1_PACKAGES="$ROS1_PACKAGES $arg"
+            else
+                echo "Unknown argument $arg..."
+                exit -1
+            fi 
+            shift
+            ;;
     esac
 done
 
+if [[ ! -z "$ROS1_PACKAGES$ROS2_PACKAGES" ]]; then
+    echo "Performing incremental build of image to rebuild packages: $ROS1_PACKAGES $ROS2_PACKAGES..."
+
+    echo "Updating Dockerfile references to use most recent image as base image"
+    # Trim of docker image LS command sourced from 
+    # https://stackoverflow.com/questions/50625619/why-doesnt-the-cut-command-work-for-a-docker-image-ls-command
+    # Question Asker: Chris F
+    # Question Answerer: Arount
+    MOST_RECENT_IMAGE_DATA=$(docker image ls | grep $IMAGE | tr -s ' ')
+
+    if [[ -z "$MOST_RECENT_IMAGE_DATA" ]]; then
+        echo No prior image exists to use as base, an initial image must be built first before attempting incremental build.
+        exit -1
+    fi
+
+    MOST_RECENT_IMAGE_HASH=$(echo $MOST_RECENT_IMAGE_DATA | cut -d " " -f 3)
+    MOST_RECENT_IMAGE_ORG=$(echo $MOST_RECENT_IMAGE_DATA | cut -d " " -f 1 | cut -d "/" -f 1)
+    MOST_RECENT_IMAGE_TAG=$(echo $MOST_RECENT_IMAGE_DATA | cut -d " " -f 2)
+    MOST_RECENT_IMAGE_DATE=$(echo $MOST_RECENT_IMAGE_DATA | cut -d " " -f 4,5,6)
+
+    echo Using $MOST_RECENT_IMAGE_TAG $MOST_RECENT_IMAGE_HASH $MOST_RECENT_IMAGE_DATE as base for partial build...
+
+    sed -i "s|^FROM[[:space:]]*[^[:space:]]*|FROM $MOST_RECENT_IMAGE_HASH|I" ../Dockerfile
+
+    COMPONENT_VERSION_STRING="SNAPSHOT"
+    USERNAME="local"
+fi
+
 if [[ -z "$COMPONENT_VERSION_STRING" ]]; then
     COMPONENT_VERSION_STRING=$("./get-component-version.sh")
 fi
@@ -61,8 +111,18 @@ if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
+elif [[ $COMPONENT_VERSION_STRING = "SNAPSHOT" ]]; then
+    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+        --build-arg ROS1_PACKAGES="$ROS1_PACKAGES" \
+        --build-arg ROS2_PACKAGES="$ROS2_PACKAGES" \
+        --build-arg VERSION="$COMPONENT_VERSION_STRING" \
+        --build-arg VCS_REF=`git rev-parse --short HEAD` \
+        --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
 else
-    docker build --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    #The addition of --network=host was a fix for a DNS resolution error that occured 
+    #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are 
+    # discussed here: https://github.com/moby/moby/issues/41003
+    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .

docker/checkout.bash

@@ -39,6 +39,6 @@ if [[ "$BRANCH" = "develop" ]]; then
       git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
       git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
 else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch carma-system-4.1.0
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch carma-system-4.1.0
+      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch carma-system-4.2.0
+      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch carma-system-4.2.0
 fi

docker/install.sh

@@ -15,16 +15,25 @@
 #  the License.
 
 # Source ros2
-source /opt/ros/foxy/setup.bash
+if [[ ! -z "$ROS2_PACKAGES" ]]; then
+    echo "Sourcing previous build for incremental build start point..."
+    source /opt/carma/install/setup.bash
+else
+    echo "Sourcing base image for full build..."
+    source /opt/ros/foxy/setup.bash
+fi
+
 # Get driver
 sudo apt-get update && sudo apt install curl gnupg2 lsb-release
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-# Install the driver
-sudo apt install ros-foxy-velodyne-driver -y
-# Install pointcloud conversion package
-sudo apt-get install ros-foxy-velodyne-pointcloud
+# Install the driver and pointcloud conversion package
+sudo apt install ros-foxy-velodyne-driver -y ros-foxy-velodyne-pointcloud
 # Build wrapper
 cd ~
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to velodyne_lidar_driver_wrapper driver_shutdown_ros2
+if [[ ! -z "$ROS2_PACKAGES" ]]; then
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-above $ROS2_PACKAGES
+else
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to velodyne_lidar_driver_wrapper driver_shutdown_ros2
+fi