From 6734c143d299768db5231e629361a6b57aabd92c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 24 Jan 2024 10:37:13 +0100
Subject: [PATCH] Compile generate_parameter_library on rhel8

---
 .../workflows/build_and_publish_docker.yaml   |  1 +
 Dockerfile                                    | 27 ----------
 Dockerfile.rhel8                              | 51 +++++++++++++++++++
 Dockerfile.rhel9                              |  4 +-
 ros-controls.rhel8.repos                      | 13 +++++
 ...controls.repos => ros-controls.rhel9.repos |  2 +-
 6 files changed, 68 insertions(+), 30 deletions(-)
 delete mode 100644 Dockerfile
 create mode 100644 Dockerfile.rhel8
 create mode 100644 ros-controls.rhel8.repos
 rename ros-controls.repos => ros-controls.rhel9.repos (77%)

diff --git a/.github/workflows/build_and_publish_docker.yaml b/.github/workflows/build_and_publish_docker.yaml
index 761147c..3949c84 100644
--- a/.github/workflows/build_and_publish_docker.yaml
+++ b/.github/workflows/build_and_publish_docker.yaml
@@ -26,6 +26,7 @@ jobs:
       - uses: docker/build-push-action@v5
         with:
           push: true
+          file: Dockerfile.rhel8
           tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-rhel
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distro }}
diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index f02d32f..0000000
--- a/Dockerfile
+++ /dev/null
@@ -1,27 +0,0 @@
-FROM almalinux:8
-ARG ROS_DISTRO=rolling
-
-# install ros
-ADD http://packages.ros.org/ros2/rhel/ros2.repo /etc/yum.repos.d/ros2.repo
-RUN dnf install \
-  'dnf-command(config-manager)' \
-  epel-release \
-  cmake \
-  gcc-c++ \
-  make \
-  langpacks-en \
-  git \
-  -y --refresh
-RUN dnf config-manager --set-enabled powertools 
-
-ENV ROS_DISTRO=${ROS_DISTRO}
-RUN dnf install -y ros-${ROS_DISTRO}-ros-base \
-python3-rosdep \
-python3-colcon-common-extensions
-RUN rosdep init
-RUN pip3 install vcstool colcon-mixin colcon-coveragepy-result colcon-lcov-result
-
-# set up sourcing of ros
-COPY ./ros_entrypoint.sh /
-ENTRYPOINT [ "/ros_entrypoint.sh" ]
-CMD ["bash"]
diff --git a/Dockerfile.rhel8 b/Dockerfile.rhel8
new file mode 100644
index 0000000..51b023e
--- /dev/null
+++ b/Dockerfile.rhel8
@@ -0,0 +1,51 @@
+FROM almalinux:8
+ARG ROS_DISTRO=rolling
+
+# install ros
+ADD http://packages.ros.org/ros2/rhel/ros2.repo /etc/yum.repos.d/ros2.repo
+RUN dnf install \
+  'dnf-command(config-manager)' \
+  epel-release \
+  cmake \
+  gcc-c++ \
+  make \
+  langpacks-en \
+  git \
+  wget \
+  -y --refresh
+RUN dnf config-manager --set-enabled powertools 
+
+ENV ROS_DISTRO=${ROS_DISTRO}
+RUN dnf install -y ros-${ROS_DISTRO}-ros-base \
+python3-rosdep \
+python3-colcon-common-extensions
+RUN rosdep init
+RUN pip3 install vcstool colcon-mixin colcon-coveragepy-result colcon-lcov-result
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+  https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+  colcon mixin update && \
+  colcon metadata add default \
+  https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+  colcon metadata update
+
+# we have to compile generate_parameter_library from source
+ENV ROS2_WS /opt/ros2_ws
+RUN mkdir -p $ROS2_WS/src
+WORKDIR $ROS2_WS
+ADD ros-controls.rhel8.repos .
+RUN vcs import src < ros-controls.rhel8.repos && \
+  source /opt/ros/$ROS_DISTRO/setup.bash && \
+  rosdep update --rosdistro $ROS_DISTRO && \
+  rosdep install -iyr --from-path src && \
+  colcon build \
+    --mixin release build-testing-off \
+    --cmake-args --no-warn-unused-cli \
+    --packages-up-to generate_parameter_library && \
+    rm -rf log src build
+
+# set up sourcing of ros
+COPY ./ros_entrypoint.sh /
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+CMD ["bash"]
diff --git a/Dockerfile.rhel9 b/Dockerfile.rhel9
index b4ab37a..7812caf 100644
--- a/Dockerfile.rhel9
+++ b/Dockerfile.rhel9
@@ -49,8 +49,8 @@ RUN colcon mixin add default \
 ENV ROS2_WS /opt/ros2_ws
 RUN mkdir -p $ROS2_WS/src
 WORKDIR $ROS2_WS
-ADD ros-controls.repos .
-RUN vcs import src < ros-controls.repos && \
+ADD ros-controls.rhel9.repos .
+RUN vcs import src < ros-controls.rhel9.repos && \
   source /opt/ros/$ROS_DISTRO/setup.sh && \
   rosdep update --rosdistro $ROS_DISTRO && \
   rosdep install -iyr --from-path src || true && \
diff --git a/ros-controls.rhel8.repos b/ros-controls.rhel8.repos
new file mode 100644
index 0000000..d6dbb5e
--- /dev/null
+++ b/ros-controls.rhel8.repos
@@ -0,0 +1,13 @@
+repositories:
+  rsl:
+    type: git
+    url: https://github.com/christophfroehlich/RSL.git
+    version:  main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version:  main
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version:  main
\ No newline at end of file
diff --git a/ros-controls.repos b/ros-controls.rhel9.repos
similarity index 77%
rename from ros-controls.repos
rename to ros-controls.rhel9.repos
index e47f561..46343e9 100644
--- a/ros-controls.repos
+++ b/ros-controls.rhel9.repos
@@ -1,7 +1,7 @@
 repositories:
   rsl:
     type: git
-    url: https://github.com/PickNikRobotics/RSL.git
+    url: https://github.com/christophfroehlich/RSL.git
     version:  main
   generate_parameter_library:
     type: git