update dockerfile space-ros#36

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
RBinsonB · Sep 9, 2024 · 201d2a6 · 201d2a6
1 parent 5c56110
commit 201d2a6
Show file tree

Hide file tree

Showing 3 changed files with 55 additions and 32 deletions.
diff --git a/lunar_pole_exploration_rover/docker/Dockerfile b/lunar_pole_exploration_rover/docker/Dockerfile
@@ -1,4 +1,5 @@
-# Copyright 2021 Open Source Robotics Foundation, Inc.
+# Copyright 2024 Stevedan Ogochukwu Omodolor Omodolor
+# Copyright 2024 Robin Baran
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,7 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
-# A Docker configuration script to build the Space ROS image.
+# A Docker configuration script to build the MoveIt2/Space ROS image.
 #
 # The script provides the following build arguments:
 #
@@ -27,36 +28,30 @@ ARG VERSION="preview"
 
 # Specify the docker image metadata
 LABEL org.label-schema.schema-version="1.0"
-LABEL org.label-schema.name="Lunar Pole Exploration Rover"
-LABEL org.label-schema.description="Lunar Pole Exploration Rover entry for the NASA Space ROS Sim Summer Sprint Challenge"
+LABEL org.label-schema.name="MoveIt2"
+LABEL org.label-schema.description="Preview version of the MoveIt2/Space ROS platform"
 LABEL org.label-schema.vendor="Open Robotics"
 LABEL org.label-schema.version=${VERSION}
 LABEL org.label-schema.url="https://github.com/space-ros"
-LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker-images"
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
 # Define a few key variables
 ENV DEMO_DIR=${HOME_DIR}/demos_ws
 ENV IGNITION_VERSION=fortress
 ENV GZ_VERSION=fortress
 
-# Disable prompting during package installation
-ARG DEBIAN_FRONTEND=noninteractive
-
-
-# Get rosinstall_generator
-# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
-# the cache won't make it into the built image but will be maintained between steps.
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  --mount=type=cache,target=/var/lib/apt,sharing=locked \
-  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
 
-# Disable prompting during package installation
-ARG DEBIAN_FRONTEND=noninteractive
+# Define key locations
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
 
-# # Clone all space-ros sources
-# RUN mkdir ${SPACEROS_DIR}/src \
-#   && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
 
 # Make sure the latest versions of packages are installed
 # Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
@@ -102,13 +97,6 @@ RUN python3 -m pip install -U \
   pytest-rerunfailures \
   pytest
 
-RUN mkdir -p ${DEMO_DIR}/src
-WORKDIR ${DEMO_DIR}
-
-# Update the ownership of the source files (had to use sudo above to work around
-# a possible inherited 'insteadof' from the host that forces use of ssh
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
-
 # Get rosinstall_generator
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
@@ -119,6 +107,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   sudo apt-get install libmongoc-dev -y
 
+
 # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
@@ -127,9 +116,23 @@ RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mo
 RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
 RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
 
+
+
+# Generate repos file for  dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/demo-pkgs.txt) \
+  > /tmp/demo_generated_pkgs.repos
+
+RUN vcs import src < /tmp/demo_generated_pkgs.repos
+
 # Get the source for the dependencies
-# RUN vcs import src < /tmp/demo_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} ./demo_manual_pkgs.repos /tmp/
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
 RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -138,9 +141,10 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
 && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
 
-# Build the demo
+# build demo
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+  && colcon build --executo sequential --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+
 
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 RUN sudo usermod -aG render $USERNAME
@@ -159,4 +163,4 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # Setup the entrypoint
 COPY ./entrypoint.sh /
 ENTRYPOINT ["/entrypoint.sh"]
-CMD ["bash"]
+CMD ["bash"]
diff --git a/lunar_pole_exploration_rover/docker/demo-pkgs.txt b/lunar_pole_exploration_rover/docker/demo-pkgs.txt
@@ -0,0 +1,9 @@
+angles
+backward_ros
+control_msgs
+rviz2
+ros2_control
+warehouse_ros
+xacro
+yaml_cpp_vendor
+python_qt_binding
diff --git a/lunar_pole_exploration_rover/docker/excluded-pkgs.txt b/lunar_pole_exploration_rover/docker/excluded-pkgs.txt
@@ -0,0 +1,10 @@
+fastrtps
+fastcdr
+generate_parameter_library
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rmw_connextdds
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+fastrtps_cmake_module