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Dockerfile
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# Copyright (C) 2018-2019 LEIDOS.
#
# Licensed under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License. You may obtain a copy of
# the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations under
# the License.
# CARMA Docker Configuration Script
#
# Performs all necessary tasks related to generation of a generic CARMA docker image
# suitable for deployment to a vehicle. The generic image will still need to be
# configured for each vehicle by means of volume mapping configuration files and
# networking mapping at run time
#
# Build Arguments:
# SSH_PRIVATE_KEY - If the extra package repository to be used during the build requires
# authentication, please pass in the necessary SSH private key in text
# form here, most likely via "$(cat ~/.ssh/id_rsa)". This data is not
# present in the final output image. Default = none
#
# EXTRA_PACKAGES - The repo to checkout any additional packages from at build time.
# Default = none
# /////////////////////////////////////////////////////////////////////////////
# Stage 1 - Acquire the CARMA source as well as any extra packages
# /////////////////////////////////////////////////////////////////////////////
FROM usdotfhwastol/carma-base:2.8.3 AS source-code
RUN mkdir ~/src
COPY --chown=carma . /home/carma/src/CARMAPlatform/
RUN ~/src/CARMAPlatform/docker/checkout.sh
# /////////////////////////////////////////////////////////////////////////////
# Stage 2 - Build and install the software
# /////////////////////////////////////////////////////////////////////////////
FROM usdotfhwastol/carma-base:2.8.3 AS install
# Copy the source files from the previous stage and build/install
RUN mkdir ~/carma_ws
COPY --from=source-code --chown=carma /home/carma/src /home/carma/carma_ws/src
RUN ~/carma_ws/src/CARMAPlatform/docker/install.sh
# /////////////////////////////////////////////////////////////////////////////
# Stage 3 - Finalize deployment
# /////////////////////////////////////////////////////////////////////////////
FROM usdotfhwastol/carma-base:2.8.3
ARG BUILD_DATE="NULL"
ARG VCS_REF="NULL"
ARG VERSION="NULL"
LABEL org.label-schema.schema-version="1.0"
LABEL org.label-schema.name="CARMA"
LABEL org.label-schema.description="Binary application for the CARMA Platform"
LABEL org.label-schema.vendor="Leidos"
LABEL org.label-schema.version=${VERSION}
LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/CARMAPlatform"
LABEL org.label-schema.vcs-ref=${VCS_REF}
LABEL org.label-schema.build-date=${BUILD_DATE}
# Migrate the files from the install stage
COPY --from=install --chown=carma /opt/carma /opt/carma
COPY --from=install --chown=carma /root/.bashrc /home/carma/.bashrc
ADD carmajava/launch/* /opt/carma/vehicle/
RUN sudo chown carma:carma -R /opt/carma/vehicle && \
ln -sf /opt/carma/vehicle/carma.urdf /opt/carma/urdf/carma.urdf && \
ln -sf /opt/carma/vehicle/carma.launch /opt/carma/launch/carma.launch && \
ln -sf /opt/carma/vehicle/drivers.launch /opt/carma/drivers/drivers.launch
CMD "roslaunch carma carma_docker.launch"