From 0d9bb0e82bb68f8a59d5f1f1f5cade90e720c947 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Tue, 16 Jan 2024 21:53:28 +0100 Subject: [PATCH] Initial version of dockerfiles --- .../workflows/build_and_publish_docker.yaml | 55 +++++ Dockerfile.debian11 | 133 ++++++++++++ Dockerfile.debian12 | 136 ++++++++++++ LICENSE | 202 ++++++++++++++++++ install_colcon_fix.sh | 17 ++ ros-controls.humble.repos | 10 + ros-controls.iron.repos | 10 + ros-controls.rolling.repos | 10 + ros_entrypoint.sh | 6 + 9 files changed, 579 insertions(+) create mode 100644 .github/workflows/build_and_publish_docker.yaml create mode 100644 Dockerfile.debian11 create mode 100644 Dockerfile.debian12 create mode 100644 LICENSE create mode 100755 install_colcon_fix.sh create mode 100644 ros-controls.humble.repos create mode 100644 ros-controls.iron.repos create mode 100644 ros-controls.rolling.repos create mode 100755 ros_entrypoint.sh diff --git a/.github/workflows/build_and_publish_docker.yaml b/.github/workflows/build_and_publish_docker.yaml new file mode 100644 index 0000000..0489de1 --- /dev/null +++ b/.github/workflows/build_and_publish_docker.yaml @@ -0,0 +1,55 @@ +--- +name: build and publish docker images + +on: + workflow_dispatch: + schedule: + - cron: '0 0 * * FRI' + +jobs: + build_images_debian11: + runs-on: ubuntu-latest + permissions: + contents: read + packages: write + strategy: + matrix: + ros_distro: ['humble', 'iron'] + steps: + - uses: actions/checkout@v3 + - uses: docker/setup-buildx-action@v2 + - uses: docker/login-action@v2 + with: + registry: ghcr.io + username: ${{ github.repository_owner }} + password: ${{ secrets.GITHUB_TOKEN }} + - uses: docker/build-push-action@v3 + with: + push: true + file: Dockerfile.debian12 + tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-debian + build-args: | + ROS_DISTRO=${{ matrix.ros_distro }} + build_images_debian12: + runs-on: ubuntu-latest + permissions: + contents: read + packages: write + strategy: + matrix: + ros_distro: ['rolling'] + steps: + - uses: actions/checkout@v3 + - uses: docker/setup-buildx-action@v2 + - uses: docker/login-action@v2 + with: + registry: ghcr.io + username: ${{ github.repository_owner }} + password: ${{ secrets.GITHUB_TOKEN }} + - uses: docker/build-push-action@v3 + with: + push: true + file: Dockerfile.debian11 + tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-debian + build-args: | + ROS_DISTRO=${{ matrix.ros_distro }} diff --git a/Dockerfile.debian11 b/Dockerfile.debian11 new file mode 100644 index 0000000..73ddf27 --- /dev/null +++ b/Dockerfile.debian11 @@ -0,0 +1,133 @@ +ARG from=debian:11-slim + +FROM ${from} + +ARG CMAKE_INSTALL_PREFIX=/usr/local +ARG NUM_THREADS=8 + +# Avoid warnings by switching to noninteractive +ENV DEBIAN_FRONTEND=noninteractive + +# Update all packages +RUN apt-get update && apt-get -y dist-upgrade \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# install system dependencies +RUN apt-get update -y -qq && \ + : "system dependencies" && \ + apt-get install -y -qq \ + \ + aptitude \ + autoconf \ + automake \ + build-essential \ + cmake \ + curl \ + dnsutils \ + git \ + gnupg2 \ + intltool \ + iputils-ping \ + libblosc1 \ + libbondcpp-dev \ + libcgal-dev \ + lsb-release \ + mlocate \ + npm \ + pkg-config \ + python3-pip \ + software-properties-common \ + tar \ + unzip \ + wget \ + xterm \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# add the ROS 2 GPG key with apt and setup sources.list +RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' && \ + curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - + +# setup environment +ENV LANG C.UTF-8 +ENV LC_ALL C.UTF-8 +ARG ROS_DISTRO +# Environment variables defined using the ENV instruction always override an ARG instruction of the same name. +ENV ROS_DISTRO=${ROS_DISTRO:-rolling} + +# ros-base include begin +# https://github.com/osrf/docker_images/blob/master/ros/galactic/ubuntu/focal/ros-core/Dockerfile +# https://github.com/osrf/docker_images/blob/master/ros/iron/ubuntu/jammy/ros-base/Dockerfile + +# install bootstrap tools + +# there is a broken package python3-colcon-notification, lets install the fix first and then install python3-colcon-common-extensions +# https://github.com/colcon/colcon-notification/issues/63#issuecomment-1823763950 +#TODO(christophfroehlich): remove this fix when the package is fixed +COPY install_colcon_fix.sh /tmp/ +RUN apt-get update && \ + . /tmp/install_colcon_fix.sh && \ + apt-get install --no-install-recommends -y python3-colcon-common-extensions \ + && rm -rf /var/lib/apt/lists/* + +RUN apt-get update && apt-get install --no-install-recommends -y \ + # python3-colcon-common-extensions \ # there is a broken package python3-colcon-notification, use fix from above or install the others manually from next line + # python3-colcon-cmake python3-colcon-core python3-colcon-defaults python3-colcon-devtools python3-colcon-library-path python3-colcon-metadata python3-colcon-output python3-colcon-package-information python3-colcon-package-selection python3-colcon-parallel-executor python3-colcon-powershell python3-colcon-python-setup-py python3-colcon-recursive-crawl python3-colcon-ros python3-colcon-test-result python3-colcon-argcomplete python3-colcon-bash python3-colcon-cd python3-colcon-override-check \ + python3-colcon-mixin \ + python3-rosdep \ + python3-vcstool \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# bootstrap rosdep +RUN rosdep init && \ + rosdep update --rosdistro $ROS_DISTRO + +# install dependencies via apt +ENV DEBCONF_NOWARNINGS yes + +# install and activate ccache, lld, cppcheck +RUN \ + : "install ccache" \ + && apt-get update -y -qq \ + && apt-get -y install --no-install-recommends ccache lld cppcheck \ + && /usr/sbin/update-ccache-symlinks \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# install new cmake, needed for generate_parameter_library +WORKDIR $CMAKE_WS +RUN \ + : "install cmake" \ + cd /opt/ && \ + git clone --depth 1 --branch v3.23.5 https://github.com/Kitware/CMake.git && \ + cd CMake && \ + ./bootstrap && make && sudo make install + +# ---- ROS ---- +# clone source, ROS core +ENV ROS2_WS /opt/ros2_ws +RUN mkdir -p $ROS2_WS/src +WORKDIR $ROS2_WS +ADD ros-controls.$ROS_DISTRO.repos . +RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO/ros2.repos src &&\ + vcs import src < ros-controls.$ROS_DISTRO.repos +# build source, ROS core +RUN colcon \ + build \ + --mixin release build-testing-off \ + --cmake-args --no-warn-unused-cli \ + --packages-up-to robot_state_publisher tf2_ros yaml_cpp_vendor tf2_geometry_msgs filters \ + ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch xacro && \ + rm -rf log + +# set up sourcing of ros +COPY ./ros_entrypoint.sh / +ENTRYPOINT [ "/ros_entrypoint.sh" ] +CMD ["bash"] diff --git a/Dockerfile.debian12 b/Dockerfile.debian12 new file mode 100644 index 0000000..df25e83 --- /dev/null +++ b/Dockerfile.debian12 @@ -0,0 +1,136 @@ +ARG from=debian:12-slim +FROM ${from} + +ARG CMAKE_INSTALL_PREFIX=/usr/local +ARG NUM_THREADS=8 + +# Avoid warnings by switching to noninteractive +ENV DEBIAN_FRONTEND=noninteractive + +# Update all packages +RUN apt-get update && apt-get -y dist-upgrade \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# install system dependencies +RUN apt-get update -y -qq && \ + : "system dependencies" && \ + apt-get install -y -qq \ + \ + aptitude \ + autoconf \ + automake \ + build-essential \ + cmake \ + curl \ + dnsutils \ + git \ + gnupg2 \ + intltool \ + iputils-ping \ + libblosc1 \ + libbondcpp-dev \ + libcgal-dev \ + lsb-release \ + mlocate \ + npm \ + pkg-config \ + python3-pip \ + software-properties-common \ + tar \ + unzip \ + wget \ + xterm \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# install project dependencies +COPY install_deps.sh /tmp/ +RUN apt-get update && \ + . /tmp/install_deps.sh \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# add the ROS 2 GPG key with apt and setup sources.list +RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' && \ + curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - + +# setup environment +ENV LANG C.UTF-8 +ENV LC_ALL C.UTF-8 +ARG ROS_DISTRO +# Environment variables defined using the ENV instruction always override an ARG instruction of the same name. +ENV ROS_DISTRO=${ROS_DISTRO:-iron} + +# ros-base include begin +# https://github.com/osrf/docker_images/blob/master/ros/galactic/ubuntu/focal/ros-core/Dockerfile +# https://github.com/osrf/docker_images/blob/master/ros/iron/ubuntu/jammy/ros-base/Dockerfile + +# install bootstrap tools +RUN apt-get update && apt-get install --no-install-recommends -y \ + python3-colcon-common-extensions \ + python3-colcon-mixin \ + python3-rosdep \ + python3-vcstool \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# bootstrap rosdep +RUN rosdep init && \ + rosdep update --rosdistro $ROS_DISTRO + +# setup colcon mixin and metadata +RUN colcon mixin add default \ + https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ + colcon mixin update && \ + colcon metadata add default \ + https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ + colcon metadata update + +# install dependencies via apt +ENV DEBCONF_NOWARNINGS yes + +# install and activate ccache, lld, cppcheck +RUN \ + : "install ccache" \ + && apt-get update -y -qq \ + && apt-get -y install --no-install-recommends ccache lld cppcheck \ + && /usr/sbin/update-ccache-symlinks \ + && \ + : "remove cache" && \ + rm -rf /var/lib/apt/lists/* + +# ---- ROS ---- +# clone source, ROS core +ENV ROS2_WS /opt/ros2_ws +RUN mkdir -p $ROS2_WS/src +WORKDIR $ROS2_WS +ADD ros-controls.$ROS_DISTRO.repos . +RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO/ros2.repos src &&\ + vcs import src < ros-controls.$ROS_DISTRO.repos +# build source, ROS core +RUN colcon \ + build \ + --mixin release build-testing-off \ + --cmake-args --no-warn-unused-cli \ + --packages-up-to robot_state_publisher tf2_ros yaml_cpp_vendor tf2_geometry_msgs image_transport_plugins filters \ + ros2doctor ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch xacro && \ + rm -rf log +# build source, ROS core +RUN colcon \ + build \ + --mixin release build-testing-off \ + --cmake-args --no-warn-unused-cli \ + --packages-up-to robot_state_publisher tf2_ros yaml_cpp_vendor tf2_geometry_msgs filters \ + ros2param ros2interface ros2topic ros2action ros2lifecycle ros2launch xacro && \ + rm -rf log + +# set up sourcing of ros +COPY ./ros_entrypoint.sh / +ENTRYPOINT [ "/ros_entrypoint.sh" ] +CMD ["bash"] diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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