BRSRI/bellande_functionality_api
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Ronaldson Bellande 2024-05-21 21:57:01 -04:00
parent 2897ca1529
commit 28957e5f52
2 changed files with 59 additions and 42 deletions
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39
docker/Dockerfile.ros1
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@ -16,7 +16,7 @@
ARG ROS_ARCHITECTURE_VERSION=latest ARG ROS_ARCHITECTURE_VERSION=latest
FROM ronaldsonbellande/bellande_robotic_environment_ros1:latest FROM ronaldsonbellande/bellande_robotic_environment_ros1:latest
SHELL [ "/bin/bash" , "-c" ] SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND noninteractive ENV DEBIAN_FRONTEND noninteractive
ENV PYTHON_VERSION="3.8" ENV PYTHON_VERSION="3.8"
@ -32,32 +32,33 @@ LABEL author=ronaldsonbellande@gmail.com
LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH} LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT} LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
# Create local catkin workspace and # copy every package # Create local catkin workspace
RUN mkdir -p $CATKIN_WS/src RUN mkdir -p $CATKIN_WS/src
# Copy Every Package
COPY ../ ${CATKIN_WS}/src COPY ../ ${CATKIN_WS}/src
# Set the working directory for Catkin
WORKDIR $CATKIN_WS WORKDIR $CATKIN_WS
# Set the working directory for catkin # Initialize and configure catkin workspace
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash && \
cd $CATKIN_WS && \
catkin init && \
catkin config --extend /opt/ros/$ROS_VERSION && \
catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0"
# Initialize catkin workspace # Install dependencies using rosdep
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash" \ RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash && \
&& catkin init \ cd $CATKIN_WS && \
&& catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0 rosdep update && \
rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_VERSION"
# Initialize local catkin workspace, install dependencies and build workpsace
RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc \
&& source ~/.bashrc
RUN cd $CATKIN_WS \
&& rosdep update \
&& rosdep fix-permissions \
&& rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_VERSION}
# Always source catkin_setup.sh when launching bash # Always source catkin_setup.sh when launching bash
COPY ../scripts/catkin_setup.sh /usr/local/bin/catkin_setup.sh COPY ../scripts/catkin_setup.sh /usr/local/bin/catkin_setup.sh
RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc && \
RUN chmod +x /usr/local/bin/catkin_setup.sh chmod +x /usr/local/bin/catkin_setup.sh
# Run the packages and source # Run catkin setup script
RUN /usr/local/bin/catkin_setup.sh RUN /usr/local/bin/catkin_setup.sh
CMD ["/bin/bash"] CMD ["/bin/bash"]

56
docker/Dockerfile.ros2
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@ -16,7 +16,7 @@
ARG ROS_ARCHITECTURE_VERSION=latest ARG ROS_ARCHITECTURE_VERSION=latest
FROM ronaldsonbellande/bellande_robotic_environment_ros2:latest FROM ronaldsonbellande/bellande_robotic_environment_ros2:latest
SHELL [ "/bin/bash" , "-c" ] SHELL ["/bin/bash", "-c"]
ENV DEBIAN_FRONTEND noninteractive ENV DEBIAN_FRONTEND noninteractive
ENV PYTHON_VERSION="3.8" ENV PYTHON_VERSION="3.8"
@ -25,37 +25,53 @@ ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=main
ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
ENV ROS_VERSION=foxy ENV ROS_VERSION=foxy
ENV CATKIN_WS=/opt/ros/overlay_ws ENV COLCON_WS=/opt/ros/overlay_ws
LABEL maintainer=ronaldsonbellande@gmail.com LABEL maintainer=ronaldsonbellande@gmail.com
LABEL author=ronaldsonbellande@gmail.com LABEL author=ronaldsonbellande@gmail.com
LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH} LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT} LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
# Create local catkin workspace and # copy every package # Install necessary tools
RUN mkdir -p $CATKIN_WS/src RUN apt-get update && \
COPY ../ ${CATKIN_WS}/src apt-get install -y python3-colcon-common-extensions python3-rosdep
WORKDIR $CATKIN_WS
# Initialize catkin workspace # Initialize rosdep if not already initialized
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash" \ RUN if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then \
&& catkin init \ rosdep init; \
&& catkin config --cmake-args -DCATKIN_ENABLE_TESTING=0 fi && \
rosdep update --include-eol-distros || \
{ echo "Retrying rosdep update..."; sleep 5; rosdep update --include-eol-distros; }
# Initialize local catkin workspace, install dependencies and build workpsace # Create local colcon workspace
RUN echo "source /opt/ros/${ROS_VERSION}/setup.bash" >> ~/.bashrc \ RUN mkdir -p $COLCON_WS/src
&& source ~/.bashrc
RUN cd $CATKIN_WS \ # Copy Every Package
&& rosdep update \ COPY ../ ${COLCON_WS}/src
&& rosdep fix-permissions \
&& rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_VERSION} # Set the working directory for Colcon
WORKDIR $COLCON_WS
# Source ROS setup.bash
RUN echo "source /opt/ros/$ROS_VERSION/setup.bash" >> ~/.bashrc
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash"
# Install dependencies using rosdep
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash && \
cd $COLCON_WS && \
rosdep update && \
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_VERSION"
# Build the workspace using colcon
RUN /bin/bash -c "source /opt/ros/$ROS_VERSION/setup.bash && \
cd $COLCON_WS && \
colcon build --event-handlers console_cohesion+"
# Always source colcon_setup.sh when launching bash # Always source colcon_setup.sh when launching bash
COPY ../scripts/colcon_setup.sh /usr/local/bin/colcon_setup.sh COPY ../scripts/colcon_setup.sh /usr/local/bin/colcon_setup.sh
RUN echo "source /usr/local/bin/colcon_setup.sh" >> /root/.bashrc RUN echo "source /usr/local/bin/colcon_setup.sh" >> /root/.bashrc && \
RUN chmod +x /usr/local/bin/colcon_setup.sh chmod +x /usr/local/bin/colcon_setup.sh
# Run the packages and source # Run colcon setup script
RUN /usr/local/bin/colcon_setup.sh RUN /usr/local/bin/colcon_setup.sh
CMD ["/bin/bash"] CMD ["/bin/bash"]