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Update ros2 image since now yarp-devices-ros2 is integrated in the su…
…perbuild Update and fix broken child images
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -39,6 +39,9 @@ COPY setup.sh ${ROBOTOLOGY_INITIALIZATION_FILE} | |
| RUN sudo chown -R icub: /usr/local/bin/entrypoint.sh | ||
| RUN sudo chown -R icub: /usr/local/bin/setup_robotology_tdd.sh | ||
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| RUN git config --global user.email "[email protected]" &&\ | ||
| git config --global user.name "icub" | ||
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| # Some other definitions | ||
| ARG CMAKE_GENERATOR="Unix Makefiles" | ||
| ARG BUILD_TYPE=Release | ||
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@@ -50,12 +53,11 @@ RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\ | |
| -G "$CMAKE_GENERATOR" \ | ||
| -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} \ | ||
| -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \ | ||
| -DNON_INTERACTIVE_BUILD:BOOL=ON \ | ||
| -DNON_INTERACTIVE_BUILD:BOOL=OFF \ | ||
| -DROBOTOLOGY_ENABLE_CORE:BOOL=ON \ | ||
| -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON \ | ||
| # for enabling robometry | ||
| -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON \ | ||
| -DYCM_USE_DEPRECATED:BOOL=OFF \ | ||
| -DROBOTOLOGY_USES_GAZEBO=OFF \ | ||
| -DROBOTOLOGY_PROJECT_TAGS=${sbtag} \ | ||
| -DYCM_USE_CMAKE_PROPOSED=ON \ | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -4,9 +4,11 @@ ARG SOURCE_IMG="none" | |
| ARG METADATA_FILE=/usr/local/bin/setup_metadata.sh | ||
| ARG PROJECTS_DIR=/projects | ||
| ARG INSTALL_DIR=${PROJECTS_DIR}/robotology-superbuild/build/install | ||
| ARG release="none" | ||
| ARG sbtag="none" | ||
| ARG metadata="none" | ||
| ARG ROBOTOLOGY_INITIALIZATION_FILE=/usr/local/bin/setup_robotology_tdd.sh | ||
| # Default tags | ||
| ARG release="master" | ||
| ARG sbtag="Stable" | ||
| ARG metadata="data" | ||
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| # Stage 1: build stage | ||
| FROM $SOURCE_IMG AS builder | ||
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@@ -16,26 +18,20 @@ LABEL maintainer="[email protected], [email protected]" | |
| ARG METADATA_FILE | ||
| ARG INSTALL_DIR | ||
| ARG PROJECTS_DIR | ||
| ARG ROBOTOLOGY_INITIALIZATION_FILE | ||
| ARG release | ||
| ARG sbtag | ||
| ARG metadata | ||
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| COPY entrypoint.sh /usr/local/bin/entrypoint.sh | ||
| COPY setup.sh ${ROBOTOLOGY_INITIALIZATION_FILE} | ||
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| ARG CMAKE_GENERATOR="Unix Makefiles" | ||
| ARG BUILD_TYPE=Release | ||
| ARG CMAKE_EXTRA_OPTIONS=-j4 | ||
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| ENV DEBIAN_FRONTEND=noninteractive | ||
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| #The EXPOSE instruction does not actually publish the port. | ||
| #It functions as a type of documentation between the person who builds the image and the person who runs the container, about which ports are intended to be published. | ||
| #To actually publish the port when running the container, use the -p flag on docker run to publish and map one or more ports, or the -P flag to publish all exposed ports and map them to high-order ports. | ||
| EXPOSE 10000/tcp 10000/udp | ||
| #is necessary to expose port?? | ||
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| # Some QT-Apps don't show controls without this | ||
| ENV QT_X11_NO_MITSHM 1 | ||
| ENV YARP_COLORED_OUTPUT=1 | ||
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| # Dependencies for gnuplot | ||
| RUN apt update && \ | ||
| apt install -y python3 libglib2.0-dev-bin &&\ | ||
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@@ -58,18 +54,26 @@ RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\ | |
| # Build all the projects | ||
| cmake --build . -- ${CMAKE_EXTRA_OPTIONS} | ||
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| RUN echo "source ${INSTALL_DIR}/share/robotology-superbuild/setup.sh" >> $ROBOTOLOGY_INITIALIZATION_FILE | ||
| # Stage 2: scratch stage | ||
| # This should theoretically help reducing the size of the final image | ||
| FROM scratch | ||
| COPY --from=secondstage / / | ||
| COPY --from=builder / / | ||
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| ARG metadata | ||
| ARG METADATA_FILE | ||
| #The EXPOSE instruction does not actually publish the port. | ||
| #It functions as a type of documentation between the person who builds the image and the person who runs the container, about which ports are intended to be published. | ||
| #To actually publish the port when running the container, use the -p flag on docker run to publish and map one or more ports, or the -P flag to publish all exposed ports and map them to high-order ports. | ||
| EXPOSE 10000/tcp 10000/udp | ||
| #is necessary to expose port?? | ||
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| ENV img_metadata=${metadata} | ||
| # Some QT-Apps don't show controls without this | ||
| ENV QT_X11_NO_MITSHM=1 | ||
| ENV YARP_COLORED_OUTPUT=1 | ||
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| ARG METADATA_FILE | ||
| ARG ROBOTOLOGY_INITIALIZATION_FILE | ||
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| RUN echo 'export img_metadata=${metadata}' > $METADATA_FILE | ||
| RUN echo 'echo 'This image was built on $metadata ' ' >> $METADATA_FILE | ||
| RUN echo "source ${METADATA_FILE}" >> $ROBOTOLOGY_INITIALIZATION_FILE | ||
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| COPY entrypoint.sh /usr/local/bin/entrypoint.sh | ||
| ENTRYPOINT [ "/usr/local/bin/entrypoint.sh" ] | ||
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Empty file.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,16 +1,16 @@ | ||
| # TODO: remove or correct | ||
| #start from image passed by argument during build process. Usually it is an ubuntu image plus mesa library. | ||
| ARG START_IMG="none" | ||
| ARG METADATA_FILE="/usr/local/bin/setup_metadata.sh" | ||
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| #FROM $START_IMG as builder | ||
| ARG METADATA_FILE=/usr/local/bin/setup_metadata.sh | ||
| ARG ROBOTOLOGY_INITIALIZATION_FILE=/usr/local/bin/setup_robotology_tdd.sh | ||
| ARG release="master" | ||
| ARG sbtag="Stable" | ||
| ARG metadata="data" | ||
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| # Definitions | ||
| ARG ROS_IMG=ros:humble-ros-base-jammy | ||
| ARG ROS_DISTRO=humble | ||
| # TODO Now it is working only with icub-main devel START_IMG IGNORED | ||
| #ARG SUPERBUILD_IMG=icubteamcode/superbuild-icubhead:master-unstable_sources | ||
| ARG PROJECTS_DIR=/projects | ||
| ARG INSTALL_DIR=${PROJECTS_DIR}/robotology-superbuild/build/install | ||
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| FROM $START_IMG AS superbuild_builder | ||
| FROM $ROS_IMG AS ros_builder | ||
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@@ -21,6 +21,8 @@ LABEL maintainer="[email protected], [email protected]" | |
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| ARG ROS_DISTRO | ||
| ARG PROJECTS_DIR | ||
| ARG INSTALL_DIR | ||
| ARG ROBOTOLOGY_INITIALIZATION_FILE | ||
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| COPY --from=superbuild_builder ${PROJECTS_DIR} ${PROJECTS_DIR} | ||
| COPY --from=superbuild_builder /usr /usr | ||
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@@ -31,56 +33,56 @@ RUN apt update && apt install -y \ | |
| ros-humble-rmw-cyclonedds-cpp ros-humble-ament-cmake-clang-format ros-humble-hardware-interface ros-humble-controller-manager ros-humble-ros2-control \ | ||
| wget \ | ||
| unzip | ||
| RUN echo 'source /opt/ros/humble/setup.bash' >> /usr/local/bin/setup_robotology_tdd.sh | ||
| RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> ${ROBOTOLOGY_INITIALIZATION_FILE} | ||
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| FROM $ROS_IMG AS secondstage | ||
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| ARG ROS_DISTRO | ||
| ARG PROJECTS_DIR | ||
| ARG INSTALL_DIR | ||
| ARG METADATA_FILE | ||
| ARG ROBOTOLOGY_INITIALIZATION_FILE | ||
| ARG release | ||
| ARG sbtag | ||
| ARG metadata | ||
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| COPY --from=ros_builder / / | ||
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| WORKDIR /root | ||
| RUN wget https://github.com/icub-tech-iit/appsAway/files/8919271/FT_setup.zip | ||
| RUN unzip FT_setup | ||
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| WORKDIR /root | ||
| RUN wget https://github.com/icub-tech-iit/appsAway/files/9112222/FT_setup_can.zip | ||
| RUN unzip FT_setup_can | ||
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| # TODO to be removed once it will merged on upstream branch | ||
| RUN cd ${PROJECTS_DIR} && git clone https://github.com/robotology/yarp &&\ | ||
| cd yarp &&\ | ||
| git checkout master &&\ | ||
| mkdir build && cd build &&\ | ||
| cmake .. &&\ | ||
| make install -j5 | ||
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| # TODO to be removed once it will merged on upstream branch | ||
| RUN cd ${PROJECTS_DIR} && git clone -b master https://github.com/robotology/icub-main &&\ | ||
| cd icub-main &&\ | ||
| mkdir build && cd build &&\ | ||
| ARG CMAKE_GENERATOR="Unix Makefiles" | ||
| ARG BUILD_TYPE=Release | ||
| ARG CMAKE_EXTRA_OPTIONS=-j4 | ||
| ARG CMAKE_PREFIX_PATH=/usr/local | ||
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| COPY entrypoint.sh /usr/local/bin/entrypoint.sh | ||
| COPY setup.sh ${ROBOTOLOGY_INITIALIZATION_FILE} | ||
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| RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash &&\ | ||
| echo $AMENT_PREFIX_PATH &&\ | ||
| echo $AMENT_CURRENT_PREFIX" | ||
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| RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\ | ||
| cd build &&\ | ||
| cmake .. \ | ||
| -DENABLE_icubmod_canBusFtSensor:BOOL=ON \ | ||
| -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \ | ||
| -DENABLE_icubmod_embObjFTsensor:BOOL=ON \ | ||
| -G "$CMAKE_GENERATOR" \ | ||
| -DCMAKE_INSTALL_PREFIX=${CMAKE_PREFIX_PATH} \ | ||
| -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \ | ||
| -DNON_INTERACTIVE_BUILD:BOOL=ON \ | ||
| -DROBOTOLOGY_ENABLE_CORE:BOOL=ON \ | ||
| -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON \ | ||
| # for enabling yarp-devices-ros2 | ||
| -DROBOTOLOGY_ENABLE_ROS2:BOOL=ON \ | ||
| -DROBOTOLOGY_PROJECT_TAGS=${sbtag} \ | ||
| &&\ | ||
| make install -j5 | ||
| # Build all the projects | ||
| cmake --build . -- ${CMAKE_EXTRA_OPTIONS} | ||
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| ENV QT_X11_NO_MITSHM=1 | ||
| ENV YARP_COLORED_OUTPUT=1 | ||
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| RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash &&\ | ||
| echo $AMENT_PREFIX_PATH &&\ | ||
| echo $AMENT_CURRENT_PREFIX &&\ | ||
| cd ${PROJECTS_DIR} &&\ | ||
| git clone -b master https://github.com/robotology/yarp-devices-ros2.git &&\ | ||
| cd yarp-devices-ros2/ros2_interfaces_ws &&\ | ||
| colcon build &&\ | ||
| source install/setup.bash &&\ | ||
| cd .. &&\ | ||
| mkdir build && cd build &&\ | ||
| cmake .. &&\ | ||
| make install -j4" | ||
| RUN echo "source ${INSTALL_DIR}/share/robotology-superbuild/setup.sh" >> $ROBOTOLOGY_INITIALIZATION_FILE | ||
| RUN echo "source ${METADATA_FILE}" >> $ROBOTOLOGY_INITIALIZATION_FILE | ||
| RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $ROBOTOLOGY_INITIALIZATION_FILE | ||
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| ENTRYPOINT [ "/usr/local/bin/entrypoint.sh" ] | ||
| CMD ["bash"] | ||
| CMD ["bash"] | ||
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