Dockerfile.ros

# Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# Permission is hereby granted, free of charge, to any person obtaining a
# copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation
# the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the
# Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
# DEALINGS IN THE SOFTWARE.

ARG BASE_IMAGE=jetson-voice:r32.5.0-foxy-base
FROM ${BASE_IMAGE}


################################################################
## install jetson_voice_ros package
################################################################
COPY ros /tmp/jetson_voice_ros
    
RUN source ${ROS_ROOT}/install/setup.bash && \
    mkdir -p ${ROS_ROOT}/src && \
    cd ${ROS_ROOT} && \
    cp -r /tmp/jetson_voice_ros src && \
    
    # build the package
    colcon build \
        --merge-install \
	    --base-paths src/jetson_voice_ros \
        --event-handlers console_direct+ && \
	  
    # clean-up build files
    rm -rf ${ROS_ROOT}/src && \
    rm -rf ${ROS_ROOT}/logs && \
    rm -rf ${ROS_ROOT}/build


################################################################
## project install
################################################################
ARG WORKSPACE=/jetson-voice

COPY jetson_voice ${WORKSPACE}/jetson_voice
COPY examples ${WORKSPACE}/examples
COPY scripts ${WORKSPACE}/scripts
COPY tests ${WORKSPACE}/tests

ENV PYTHONPATH="${WORKSPACE}:${PYTHONPATH}"