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FROM ros:noetic-ros-base-focal AS base
# Switch to much faster mirror for apt processes
ENV OLD_MIRROR archive.ubuntu.com
ENV SEC_MIRROR security.ubuntu.com
ENV NEW_MIRROR mirror.bytemark.co.uk
RUN sed -i "s/$OLD_MIRROR\|$SEC_MIRROR/$NEW_MIRROR/g" /etc/apt/sources.list
# Install basic dev tools (And clean apt cache afterwards)
RUN apt-get update \
&& DEBIAN_FRONTEND=noninteractive \
apt-get -y --quiet --no-install-recommends install \
# Pip for Python3
# python3-pip \
# Follow instructions for ROS2 installation
software-properties-common \
curl \
&& rm -rf /var/lib/apt/lists/*
# Follow instructions for ROS2 installation
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
# Install ROS2 main debs
RUN apt-get update \
&& DEBIAN_FRONTEND=noninteractive \
apt-get -y --quiet --no-install-recommends upgrade \
&& DEBIAN_FRONTEND=noninteractive \
apt-get -y --quiet --no-install-recommends install \
ros-galactic-ros-base \
ros-dev-tools \
ros-galactic-rmw-cyclonedds-cpp \
&& rm -rf /var/lib/apt/lists/*
# Setup ROS1 environment variables [For AV server]
ENV ROS_MASTER_URI=http://172.31.0.1:11311/
ENV ROS_IP=172.31.0.1
# Setup ROS1 msgs workspace folder
ENV ROS1_WS /opt/ros1_msgs_ws
# Setup ROS2 msgs workspace folder
ENV ROS2_WS /opt/ros2_msgs_ws
# Set cyclone DDS ROS RMW
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
COPY ./cyclone_dds.xml /opt/ros/
ENV CYCLONEDDS_URI=file:///opt/ros/cyclone_dds.xml
# Setup ROS1-2 bridge workspace
ENV BRIDGE_WS /opt/ros1_bridge_ws
# Enable ROS log colorised output
ENV RCUTILS_COLORIZED_OUTPUT=1
# -----------------------------------------------------------------------
FROM base AS runtime
# Bring both msg files into the ROS1 and ROS2 workspaces
COPY ecal_to_ros/ros1/ $ROS1_WS/src/ecal_to_ros/
COPY ecal_to_ros/ros2/ $ROS2_WS/src/ecal_to_ros/
# Source ROS1 setup for dependencies and build our code
WORKDIR $ROS1_WS
RUN . /opt/ros/noetic/setup.sh && \
catkin_make -DCMAKE_BUILD_TYPE=Release
# Source ROS2 setup for dependencies and build our code
WORKDIR $ROS2_WS
RUN unset ROS_DISTRO && \
. /opt/ros/galactic/setup.sh && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# Bring all ROS1-2 bridge files over
COPY bin $BRIDGE_WS/src/ros1_bridge/bin
COPY cmake $BRIDGE_WS/src/ros1_bridge/cmake
COPY include $BRIDGE_WS/src/ros1_bridge/include
COPY resource $BRIDGE_WS/src/ros1_bridge/resource
COPY ros1_bridge $BRIDGE_WS/src/ros1_bridge/ros1_bridge
COPY src $BRIDGE_WS/src/ros1_bridge/src
COPY test $BRIDGE_WS/src/ros1_bridge/test
COPY CMakeLists.txt package.xml $BRIDGE_WS/src/ros1_bridge/
# Source ROS setup for dependencies and build our code
WORKDIR $BRIDGE_WS
RUN . "$ROS1_WS"/devel/setup.sh && \
. "$ROS2_WS"/install/setup.sh && \
BUILD_WORKERS=$(($(nproc) - 2)) && \
colcon build --executor parallel --parallel-workers "$BUILD_WORKERS" \
--cmake-force-configure --cmake-args -DCMAKE_BUILD_TYPE=Release
# Add command to docker entrypoint to source newly compiled code when running docker container
RUN sed --in-place --expression \
"\$isource \"$BRIDGE_WS/install/setup.bash\" " \
/ros_entrypoint.sh
# launch ros package
CMD ["ros2", "run", "ros1_bridge", "dynamic_bridge"]
# -----------------------------------------------------------------------
FROM base AS dev
# Install basic dev tools (And clean apt cache afterwards)
RUN apt-get update \
&& DEBIAN_FRONTEND=noninteractive \
apt-get -y --quiet --no-install-recommends install \
# Command-line editor
nano \
# Ping network tools
inetutils-ping \
# Bash auto-completion for convenience
bash-completion \
&& rm -rf /var/lib/apt/lists/*
# Optional: To limit cpu since ros1_bridge is a big boii `export MAKEFLAGS="-j 4"`
# Add colcon build alias for convenience
RUN echo 'alias colcon_build="colcon build --symlink-install --cmake-args &&\
-DCMAKE_BUILD_TYPE=Release &&\
source install/setup.bash"' >> /root/.bashrc
# Enter bash for development
CMD ["bash"]