[MERGE AFTER #1982] Integrate ament into CI and docker builds #2007
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Unify docker support with a new (and more generic) set of docker files. Two main images are created: - Base image containing an Ubuntu installation with all dependencies - Build image containing a pre-built Autoware When Cuda support is enabled, there is a further Base+Cuda support image. These Dockerfiles can be used for both AArch64 and x86_64 images. Co-authored-by: Filipe Rinaldi <filipe.rinaldi@arm.com>
| @@ -69,8 +69,12 @@ RUN groupadd --gid $GROUP_ID $USERNAME && \ | |||
| chmod 0440 /etc/sudoers.d/$USERNAME | |||
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| # Startup scripts | |||
| ARG ROS_DISTRO | |||
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ROS_DISTRO is already defined at the top of the file before the FROM statement.
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I think you need to repeat ARG if using it FROM as the first one had a scope of the following FROM command only - https://docs.docker.com/engine/reference/builder/#understand-how-arg-and-from-interact
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Just a minor thing, the packages for apt-get install should be in alphabetical order. Otherwise, the patch is a +1 from me on the Dockerfile changes.
docker/generic/Dockerfile.base
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| # | ||
| # Enable ament_cmake | ||
| # | ||
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We use FROM ros:$ROS_DISTRO here, so ROS GPG key is already imported:
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116 Executing: /tmp/tmp.3Qb23No1Wz/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116 gpg: requesting key B01FA116 from hkp server keyserver.ubuntu.com gpg: key B01FA116: "ROS Builder " not changed gpg: Total number processed: 1 gpg: unchanged: 1
docker/generic/Dockerfile.base
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| # Enable ament_cmake | ||
| # | ||
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| RUN echo "deb http://repo.ros2.org/ubuntu/main xenial main" | tee /etc/apt/sources.list.d/ros2-latest.list |
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Replace xenial with lsb_release -sc to simplify next time we update the base OS. You may need to add "lsb-release" to the installation list on line 10.
docker/generic/Dockerfile.base
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| RUN echo "deb http://repo.ros2.org/ubuntu/main xenial main" | tee /etc/apt/sources.list.d/ros2-latest.list | ||
| RUN apt-get update |
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Combine apt-get update and apt-get install on the same RUN command to avoid bloating the Docker layers. Also add "rm -rf /var/lib/apt/lists/*" at the end of the same RUN command.
docker/generic/build.sh
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| @@ -78,6 +79,7 @@ BASE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO-base | |||
| docker build \ | |||
| --tag $BASE \ | |||
| --build-arg ROS_DISTRO=$ROS_DISTRO \ | |||
| --build-arg ROS2_DISTRO=${ROS2_DISTRO} \ | |||
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You may drop the curly brackets syntax to be consistent with the rest of the file.
docker/generic/hooks/build
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| @@ -9,6 +9,7 @@ echo "[***] Build hook running" | |||
| docker build \ | |||
| -t $BASE \ | |||
| --build-arg ROS_DISTRO=$ROS_DISTRO \ | |||
| --build-arg ROS2_DISTRO=${ROS2_DISTRO} \ | |||
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@filiperinaldi Comments addressed, thank you! |
Signed-off-by: Maxim Osipov <maxim.osipov@gmail.com>
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Gitlab CI pipeline: |
gbiggs
added
type:new-feature
Status
PRODUCTION / DEVELOPMENT
Description
In order to move packages to ament_cmake in preparation for ROS2 transition we need to enable support for ament in the build system.
Related PRs
#1982 autowarefoundation/autoware_ai#530 #1946 autowarefoundation/autoware_ai#551
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