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minimal build of additional packages in ubuntu 22.04
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| # docker build . -f Dockerfile.minimal -t ros_from_src_ubuntu_2204_minimal | ||
| # build ros basic packages on top of what's available in debian in 22.04, | ||
| # doesn't build rqt or rviz | ||
| ARG IMAGE=ubuntu:22.04 | ||
| FROM ${IMAGE} | ||
| ARG IMAGE | ||
| RUN echo ${IMAGE} | ||
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| ENV DEBIAN_FRONTEND="noninteractive" | ||
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| # be able to source files | ||
| RUN rm /bin/sh && ln -s /bin/bash /bin/sh | ||
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| RUN apt-get update -yqq | ||
| RUN apt-get upgrade -yqq | ||
| RUN apt-get install -yqq apt-utils | ||
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| # apt installs | ||
| RUN apt-get update && apt-get install -yqq git | ||
| RUN apt-get update && apt-cache search ros- | ||
| RUN apt-get update && apt-cache search catkin | ||
| RUN apt-get update && apt-get install -yqq ros-* | ||
| RUN apt-get update && apt-get install -yqq catkin-lint cython3 libapriltag-dev libceres-dev libfmt-dev libfrei0r-ocaml-dev libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libsdl-image1.2-dev libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev python-is-python3 python3-tf2-geometry-msgs python3-venv vim curl jq | ||
| RUN apt-get update && apt-get install -yqq libgsl-dev wget freeglut3-dev libcgal-dev libhdf5-dev libturbojpeg0-dev libzmq3-dev | ||
| RUN apt-get -y install ocl-icd-opencl-dev opencl-headers | ||
| RUN apt-get -y install libopenvdb-dev | ||
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| ENV DEST=/opt/ros/base | ||
| RUN mkdir $DEST -p | ||
| ENV SRC=/opt/src | ||
| RUN mkdir $SRC -p | ||
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| # TODO(lucasw) turn this into a script to make it easy to use outside of docker | ||
| WORKDIR $SRC | ||
| RUN git clone https://github.com/dirk-thomas/vcstool.git | ||
| WORKDIR $SRC/vcstool | ||
| RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed | ||
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| WORKDIR $SRC | ||
| RUN git clone https://github.com/osrf/osrf_pycommon.git | ||
| WORKDIR $SRC/osrf_pycommon | ||
| RUN ls -l | ||
| RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed | ||
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| WORKDIR $SRC | ||
| RUN git clone https://github.com/catkin/catkin_tools.git | ||
| WORKDIR $SRC/catkin_tools | ||
| RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed | ||
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| WORKDIR $SRC | ||
| RUN python --version | awk '{print $2}' | cut -d'.' -f1 | ||
| RUN python --version | awk '{print $2}' | cut -d'.' -f2 | ||
| # TODO(lucasw) these aren't working | ||
| # RUN export PYTHON_MAJOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f1` | ||
| # RUN export PYTHON_MINOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f2` | ||
| # RUN PYTHON_MINOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f2` | ||
| ARG PYTHON_MAJOR_VERSION=3 | ||
| ARG PYTHON_MINOR_VERSION=10 | ||
| ENV OPT_PYTHONPATH=$DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/ | ||
| RUN echo $PYTHONPATH | ||
| ENV PYTHONPATH=$OPT_PYTHONPATH | ||
| RUN echo $PYTHONPATH | ||
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| ENV PATH=$DEST/bin:$PATH | ||
| ENV CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST/lib/cmake | ||
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| # WORKDIR $SRC | ||
| # RUN git clone https://github.com/lucasw/ros_from_src.git | ||
| WORKDIR $SRC/ros_from_src/ubuntu_2204 | ||
| COPY minimal_repos.yaml . | ||
| # make git clone work through vcs without git credentials | ||
| RUN sed -i 's/[email protected]:/https:\/\/github.com\//' minimal_repos.yaml | ||
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| # get packages and build | ||
| ENV WS=/base_catkin_ws/src | ||
| RUN mkdir $WS -p | ||
| WORKDIR $WS | ||
| RUN vcs import --shallow < $SRC/ros_from_src/ubuntu_2204/minimal_repos.yaml | ||
| # COPY ignore.sh $SRC/ros_from_src/ubuntu_2204/ | ||
| # RUN $SRC/ros_from_src/ubuntu_2204/ignore.sh | ||
| RUN touch ros/grid_map/grid_map_rviz_plugin/CATKIN_IGNORE | ||
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| # ENV ROS_DISTRO="noetic" | ||
| RUN echo $CMAKE_PREFIX_PATH | ||
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| WORKDIR $WS/.. | ||
| RUN catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib | ||
| RUN catkin build --no-status -j1 image_transport | ||
| RUN catkin build --no-status -j1 grid_map_cv | ||
| RUN touch src/ros/grid_map/grid_map_demos/CATKIN_IGNORE | ||
| RUN catkin build --no-status -j1 | ||
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| # rospack list won't work by itself | ||
| # RUN source install/setup.bash && rospack list | ||
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| # TODO(lucasw) run more tests than this | ||
| RUN ln -s /base_catkin_ws/install /opt/ros/one | ||
| RUN ls -l /opt/ros/one | ||
| # make 'source' work | ||
| SHELL ["/bin/bash", "-c"] | ||
| RUN source /opt/ros/one/setup.sh && rospack list | ||
| # RUN source install/setup.sh && rostest joint_trajectory_controller joint_trajectory_controller.test |
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| repositories: | ||
| lucasw/image_manip: | ||
| type: git | ||
| url: https://github.com/lucasw/image_manip | ||
| version: fix_zero_frame_rate | ||
| lucasw/tf_demo: | ||
| type: git | ||
| url: https://github.com/lucasw/tf_demo | ||
| version: old_tf_to_new_tf | ||
| lucasw/topic_state: | ||
| type: git | ||
| url: https://github.com/lucasw/topic_state | ||
| version: master | ||
| lucasw/transform_point_cloud: | ||
| type: git | ||
| url: https://github.com/lucasw/transform_point_cloud.git | ||
| version: master | ||
| lucasw/vimjay: | ||
| type: git | ||
| url: https://github.com/lucasw/vimjay | ||
| version: eliminate_build_warnings | ||
| other/ddynamic_reconfigure: | ||
| type: git | ||
| url: https://github.com/ros-o/ddynamic_reconfigure | ||
| version: obese-devel | ||
| other/jsk_common_msgs: | ||
| type: git | ||
| url: https://github.com/lucasw/jsk_common_msgs | ||
| version: master | ||
| # other/message_filters: | ||
| # type: git | ||
| # url: https://github.com/fkie/message_filters.git | ||
| # version: master | ||
| other/marti_messages: | ||
| type: git | ||
| url: https://github.com/swri-robotics/marti_messages.git | ||
| version: master | ||
| # other/opencv_apps: | ||
| # type: git | ||
| # url: https://github.com/ros-perception/opencv_apps.git | ||
| # version: indigo | ||
| ros/camera_info_manager_py: | ||
| type: git | ||
| url: https://github.com/lucasw/camera_info_manager_py | ||
| version: noetic-devel | ||
| ros/control_msgs: | ||
| type: git | ||
| url: https://github.com/ros-controls/control_msgs.git | ||
| version: kinetic-devel | ||
| ros/diagnostics: | ||
| type: git | ||
| url: [email protected]:ros/diagnostics.git | ||
| version: noetic-devel | ||
| ros/ddynamic_reconfigure_python: | ||
| type: git | ||
| url: https://github.com/pal-robotics/ddynamic_reconfigure_python | ||
| version: master | ||
| ros/filters: | ||
| type: git | ||
| url: [email protected]:ros/filters.git | ||
| version: noetic-devel | ||
| ros/four_wheel_steering_msgs: | ||
| type: git | ||
| url: https://github.com/ros-drivers/four_wheel_steering_msgs.git | ||
| version: master | ||
| ros/geographic_info: | ||
| type: git | ||
| url: https://github.com/ros-geographic-info/geographic_info.git | ||
| version: master | ||
| ros/geometry2: | ||
| type: git | ||
| url: https://github.com/lucasw/geometry2 | ||
| version: noetic_aggregated | ||
| ros/grid_map: | ||
| type: git | ||
| url: https://github.com/lucasw/grid_map | ||
| version: tbb_2021 | ||
| ros/image_common: | ||
| type: git | ||
| url: https://github.com/lucasw/image_common | ||
| version: ubuntu_2210 | ||
| ros/image_pipeline: | ||
| type: git | ||
| url: https://github.com/lucasw/image_pipeline | ||
| version: rgb_in_depth_range | ||
| ros/joint_state_publisher: | ||
| type: git | ||
| url: https://github.com/lucasw/joint_state_publisher | ||
| version: noetic_aggregated | ||
| ros/navigation: | ||
| type: git | ||
| url: [email protected]:lucasw/navigation | ||
| version: lucasw_debug | ||
| ros/nmea_msgs: | ||
| type: git | ||
| url: https://github.com/ros-drivers/nmea_msgs | ||
| version: master | ||
| ros/octomap_msgs: | ||
| type: git | ||
| url: https://github.com/OctoMap/octomap_msgs.git | ||
| version: melodic-devel | ||
| ros/robot_state_publisher: | ||
| type: git | ||
| url: https://github.com/lucasw/robot_state_publisher | ||
| version: robot_state_function | ||
| # ros/ros_comm: | ||
| # type: git | ||
| # url: https://github.com/lucasw/ros_comm | ||
| # version: salsa_noetic_aggregated | ||
| # ros/rosconsole: | ||
| # type: git | ||
| # url: https://github.com/lucasw/rosconsole | ||
| # version: ubuntu_2210 | ||
| # ros/roscpp_core: | ||
| # type: git | ||
| # url: https://github.com/lucasw/roscpp_core | ||
| # version: duration_out_of_dual_range | ||
| ros/roslint: | ||
| type: git | ||
| url: https://github.com/lucasw/roslint | ||
| version: roslint_rust | ||
| ros/unique_identifier: | ||
| type: git | ||
| url: https://github.com/ros-geographic-info/unique_identifier.git | ||
| version: master | ||
| ros/urdf_geometry_parser: | ||
| type: git | ||
| url: https://github.com/ros-controls/urdf_geometry_parser.git | ||
| version: kinetic-devel | ||
| ros/urdf_parser_py: | ||
| type: git | ||
| url: https://github.com/ros/urdf_parser_py.git | ||
| version: melodic-devel | ||
| ros/vision_msgs: | ||
| type: git | ||
| url: https://github.com/ros-perception/vision_msgs.git | ||
| version: noetic-devel | ||
| ros/xacro: | ||
| type: git | ||
| url: https://github.com/lucasw/xacro.git | ||
| version: cleanup_roslint |