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Dockerfile
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ARG ROS_VERSION="humble"
ARG WORKSPACE_DIR="/ros2_ws"
FROM ros:${ROS_VERSION}-ros-base as builder
#Installing required packages
ENV DEBIAN_FRONTEND="noninteractive"
RUN set -ex \
&& apt-get update && apt-get install -y \
libboost-all-dev \
libtbb-dev \
wget
#Copying Packages into the Workspace
ARG ROS_VERSION
ARG WORKSPACE_DIR
COPY microstrain_radar_navigation ${WORKSPACE_DIR}/src/microstrain_radar_navigation
COPY microstrain_inertial ${WORKSPACE_DIR}/src/microstrain_inertial
COPY radar_velocity_estimation ${WORKSPACE_DIR}/src/radar_velocity_estimation
COPY smartmicro_ros2_radars ${WORKSPACE_DIR}/src/smartmicro_ros2_radars
#Installing Dependencies and Building the required Packages
RUN set -ex \
&& cd ${WORKSPACE_DIR} \
&& . /opt/ros/${ROS_VERSION}/setup.sh \
&& rosdep update --rosdistro "${ROS_DISTRO}" \
&& apt-get update \
&& rm -rf ${WORKSPACE_DIR}/src/smartmicro_ros2_radars/smart_rviz_plugin \
&& rosdep install --from-paths src -y --ignore-src -r -y \
&& cd ${WORKSPACE_DIR}/src/smartmicro_ros2_radars \
&& yes yes | ./smart_extract.sh \
&& cd ../.. \
&& colcon build --cmake-args "-DCMAKE_BUILD_TYPE=RELEASE"
#Required for Disabling Shared Memory
COPY fastrtps.xml /
#Required for the Smartmicro Node to set up the CAN Interface
USER root
COPY docker_entrypoint.sh /usr/local/bin
ENTRYPOINT ["/usr/local/bin/docker_entrypoint.sh"]