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Merge pull request #50 from j3soon/refactor/unify-workspace-style
Unify workspace style
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,8 +1,7 @@ | ||
| # Visual Studio Code | ||
| .vscode | ||
|
|
||
| # ROS2 basic directories | ||
| /build | ||
| /install | ||
| /log | ||
| docker/cache/* | ||
| !docker/cache/.gazebo | ||
| docker/cache/.gazebo/* | ||
| !docker/cache/.gazebo/.gitkeep |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,30 @@ | ||
| # Source global ROS2 environment | ||
| source /opt/ros/$ROS_DISTRO/setup.bash | ||
| # Optionally perform apt update if it has not been executed yet | ||
| if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then | ||
| echo "apt-get update has not been executed yet. Running sudo apt-get update..." | ||
| sudo apt-get update | ||
| fi | ||
| # Optionally perform rosdep update if it has not been executed yet | ||
| if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then | ||
| echo "rosdep update has not been executed yet. Running rosdep update..." | ||
| rosdep update | ||
| fi | ||
| # Optionally build the workspace if it has not been built yet | ||
| if [ ! -f $ROS2_WS/install/setup.bash ]; then | ||
| echo "Workspace has not been built yet. Building workspace..." | ||
| cd $ROS2_WS | ||
| # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html | ||
| rosdep install --from-paths src --ignore-src -y -r | ||
| # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages | ||
| # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html | ||
| if [ $(arch) == "aarch64" ]; then | ||
| colcon build --symlink-install | ||
| else | ||
| colcon build --symlink-install | ||
| fi | ||
| echo "Workspace built." | ||
| fi | ||
| # TODO: Source other workspace environments as underlay | ||
| # Source workspace environment | ||
| # Note: If you have not built your workspace yet, the following command will fail | ||
| source $ROS2_WS/install/setup.bash |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,50 +1,103 @@ | ||
| # Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble | ||
| FROM osrf/ros:humble-desktop-full | ||
| # Base Image: https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble | ||
| FROM osrf/ros:humble-desktop-full AS amd64 | ||
| # Base Image: https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble | ||
| FROM arm64v8/ros:humble AS arm64 | ||
|
|
||
| # Use docker automatic platform args to select the base image. | ||
| # It may be `arm64` or `amd64` depending on the platform. | ||
| # Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope | ||
| FROM $TARGETARCH | ||
| ARG TARGETARCH | ||
|
|
||
| LABEL org.opencontainers.image.authors="assume0701@gmail.com" | ||
|
|
||
| # Arguments for the default user | ||
| ARG USERNAME=user | ||
| ARG USER_UID=1000 | ||
| ARG USER_GID=$USER_UID | ||
|
|
||
| # Create the user | ||
| RUN groupadd --gid $USER_GID $USERNAME \ | ||
| && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ | ||
| # | ||
| # [Optional] Add sudo support. Omit if you don't need to install software after connecting. | ||
| && apt-get update \ | ||
| && apt-get install -y sudo \ | ||
| && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ | ||
| && chmod 0440 /etc/sudoers.d/$USERNAME \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| RUN apt-get update && apt-get upgrade -y \ | ||
|
|
||
| # Keep downloaded packages for caching purposes | ||
| # Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages | ||
| RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache | ||
|
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||
| # Upgrade packages | ||
| # Ref: https://pythonspeed.com/articles/security-updates-in-docker/ | ||
| # Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages | ||
| # Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398 | ||
| # Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404 | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get upgrade -y \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| RUN apt-get update && apt-get install -y python3-pip \ | ||
|
|
||
| # Install sudo and create a user with sudo privileges | ||
| # Ref: https://stackoverflow.com/a/65434659 | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y sudo \ | ||
| && useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \ | ||
| && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| ENV SHELL /bin/bash | ||
|
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||
| # Install common tools | ||
| RUN apt-get update && apt-get install -y \ | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| curl \ | ||
| git \ | ||
| git-extras \ | ||
| htop \ | ||
| iputils-ping \ | ||
| nano \ | ||
| net-tools \ | ||
| tmux \ | ||
| tree \ | ||
| unzip \ | ||
| vim \ | ||
| wget \ | ||
| zip \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # Install Python pip | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| python3-pip \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
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||
| # Install turtlebot3, RVIZ, Gazebo and Cartographer | ||
| RUN apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-gazebo-ros-pkgs \ | ||
| # Install custom tools | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| git-extras \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # Install ROS2 Gazebo packages for amd64 | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| if [ "$TARGETARCH" = "amd64" ]; then \ | ||
| apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-gazebo-ros-pkgs \ | ||
| ros-$ROS_DISTRO-gazebo-ros2-control \ | ||
| && rm -rf /var/lib/apt/lists/*; \ | ||
| fi | ||
|
|
||
| # Install ROS2 RVIZ and other custom ROS2 packages | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-rviz2 \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # TODO: Add more commands here | ||
| # For example, to install additional packages, uncomment the following lines and add the package names | ||
| # RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| # apt-get update && apt-get install -y \ | ||
| # $OTHER_PACKAGES \ | ||
| # && rm -rf /var/lib/apt/lists/* | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-cartographer \ | ||
| ros-$ROS_DISTRO-turtlebot3* \ | ||
| ros-$ROS_DISTRO-rqt-robot-steering \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| COPY .bashrc /home/$USERNAME/.bashrc | ||
|
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||
| USER $USERNAME | ||
| # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount | ||
| RUN mkdir /home/$USERNAME/.gazebo | ||
| # TODO: Run additional commands as non-root user here | ||
| COPY .bashrc /home/$USERNAME/.bashrc | ||
| # TODO: Copy additional files here | ||
| ENTRYPOINT [] | ||
| CMD ["/bin/bash"] |
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