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Updated Micro epsilon SDK and dependencies #32

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merged 6 commits into from
Nov 24, 2023
Merged

Updated Micro epsilon SDK and dependencies #32

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879f435
Updated Micro epsilon SDK and dependencies
NithishkumarS Nov 21, 2023
af3e168
Code review fixes
NithishkumarS Nov 22, 2023
56f064f
Removed redundant dependencies
NithishkumarS Nov 23, 2023
8bcd331
Update CI to use noetic
dave992 Nov 23, 2023
a781687
Add missing libusb dependency to aravis .deb
dave992 Nov 24, 2023
7f09b0f
Update min aravis version
dave992 Nov 24, 2023
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66 changes: 40 additions & 26 deletions .docker/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,68 +1,82 @@
ARG SCANCONTROL_SDK_VERSION=0.2.5
ARG SCANCONTROL_SDK_VERSION=1.0.0

FROM ubuntu:bionic AS build
FROM ubuntu:focal AS build

ARG SCANCONTROL_SDK_VERSION
ARG DEBIAN_FRONTEND=noninteractive

RUN apt-get update && \
apt-get install -y --no-install-recommends \
checkinstall \
cmake \
debhelper \
g++ \
gcc \
gettext \
git \
gobject-introspection \
gtk-doc-tools \
intltool \
libgirepository1.0-dev \
libglib2.0-dev \
libgstreamer1.0-dev \
libgstreamer-plugins-base1.0-dev \
libgstreamer-plugins-good1.0-dev \
libgtk-3-dev \
libusb-1.0-0-dev \
libxml2-dev \
meson \
python3-pip \
ninja-build \
pkg-config \
unzip \
wget \
&& rm -rf /var/lib/apt/lists/*
xsltproc \
&& rm -rf /var/lib/apt/lists/* && \
pip3 install meson
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@katettudelft katettudelft Nov 28, 2023 •
edited
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I'd suggest expanding this a bit further - this is the standard 'clean-up' stanza I use with each apt call:

apt-get autoremove -y &&\
apt-get clean -y &&\
rm -rf /var/lib/apt/lists/*


RUN wget http://ftp.acc.umu.se/pub/GNOME/sources/aravis/0.6/aravis-0.6.4.tar.xz && \
tar xfJ aravis-0.6.4.tar.xz && \
rm aravis-0.6.4.tar.xz && \
cd aravis-0.6.4 && \
./configure && \
make && \
checkinstall --pkgname aravis --requires="libglib2.0-dev, libxml2-dev" && \
ldconfig
RUN wget https://github.com/AravisProject/aravis/releases/download/0.8.30/aravis-0.8.30.tar.xz -O aravis-0.8.30.tar.xz &&\
tar xfJ aravis-0.8.30.tar.xz && \
rm aravis-0.8.30.tar.xz && \
cd aravis-0.8.30 && \
meson setup build && \
cd build && \
ninja && \
checkinstall --pkgname aravis --pkgversion 0.8.30 --requires="libglib2.0-dev, libxml2-dev, libusb-1.0-0-dev" ninja install

SHELL ["/bin/bash", "-c"]
RUN wget https://software.micro-epsilon.com/scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip && \
unzip scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip && \
RUN wget https://software.micro-epsilon.com/scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip -O scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip && \
unzip scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip -d scanCONTROL-Linux-SDK/ && \
rm scanCONTROL-Linux-SDK-${SCANCONTROL_SDK_VERSION//./-}.zip && \
cd /scanCONTROL\ Linux\ SDK\ ${SCANCONTROL_SDK_VERSION}/libmescan/ && \
cd scanCONTROL-Linux-SDK/libmescan/ && \
meson builddir && \
cd builddir && \
ninja && \
checkinstall --pkgname mescan --pkgversion ${SCANCONTROL_SDK_VERSION} --requires="aravis \(\>= 0.6.0\)" ninja install && \
checkinstall --pkgname mescan --pkgversion ${SCANCONTROL_SDK_VERSION} --requires="aravis \(\>= 0.8.0\)" ninja install && \
ldconfig && \
cd "/scanCONTROL Linux SDK ${SCANCONTROL_SDK_VERSION}/libllt/" && \
cd /scanCONTROL-Linux-SDK/libllt && \
meson builddir && \
cd builddir && \
ninja && \
checkinstall --pkgname llt --pkgversion ${SCANCONTROL_SDK_VERSION} --requires="mescan \(\>= ${SCANCONTROL_SDK_VERSION}\),aravis \(\>= 0.6.0\)" ninja install
checkinstall --pkgname llt --pkgversion ${SCANCONTROL_SDK_VERSION} --requires="mescan \(\>= ${SCANCONTROL_SDK_VERSION}\),aravis \(\>= 0.8.0\)" ninja install

RUN mkdir /library_pkgs && \
mv /aravis-0.6.4/aravis_0.6.4-1_amd64.deb /library_pkgs && \
mv "/scanCONTROL Linux SDK ${SCANCONTROL_SDK_VERSION}/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
mv "/scanCONTROL Linux SDK ${SCANCONTROL_SDK_VERSION}/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs
mv /aravis-0.8.30/build/aravis_0.8.30-1_amd64.deb /library_pkgs && \
mv "/scanCONTROL-Linux-SDK/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
mv "/scanCONTROL-Linux-SDK/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs

FROM ros:melodic-ros-core
FROM ros:noetic-ros-core
ARG SCANCONTROL_SDK_VERSION
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I'd recommend that you add an AS label for FROM statements. It breaks the file up a bit conceptually, and makes multi-target builds an option (if we want to use them later).

There's an example on line 3.


RUN apt-get update && \
apt-get install -y \
RUN apt-get update && apt-get install -y --no-install-recommends\
intltool \
pkg-config \
&& rm -rf /var/lib/apt/lists/*

COPY --from=build ["/library_pkgs", "/library_pkgs"]

RUN apt-get update && \
apt install -y /library_pkgs/aravis_0.6.4-1_amd64.deb && \
apt install -y /library_pkgs/aravis_0.8.30-1_amd64.deb && \
apt install /library_pkgs/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb && \
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It's preferable to use apt-get rather than apt in scripts - it has a more reliable command line interface.

I think you can do all of the packages in one install command too (but please test it works if you change it).

Finally, if these are the only files in /library_pkgs/, then you could consider using
apt-get install /library_pkgs/* to make the command shorter. Obviously if there are additional files in there that you don't want, or the contents are subject to change, then don't do this. :)

apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb
apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb \
&& rm -rf /var/lib/apt/lists/*

4 changes: 2 additions & 2 deletions .github/workflows/industrial_ci_action.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ jobs:
strategy:
matrix:
env:
- {OS_NAME: ubuntu, OS_CODE_NAME: bionic, ROS_DISTRO: melodic, DOCKER_IMAGE: "samxl/scancontrol:latest"}
- {OS_NAME: ubuntu, OS_CODE_NAME: focal, ROS_DISTRO: noetic, DOCKER_IMAGE: "samxl/scancontrol:sdk_v1.0.0"}
env:
CCACHE_DIR: /github/home/.ccache
runs-on: ubuntu-latest
Expand All @@ -18,4 +18,4 @@ jobs:
path: ${{ env.CCACHE_DIR }}
key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
- uses: 'ros-industrial/industrial_ci@master'
env: ${{ matrix.env }}
env: ${{ matrix.env }}
16 changes: 13 additions & 3 deletions micro_epsilon_scancontrol_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,22 @@ project(micro_epsilon_scancontrol_driver)
find_package(catkin REQUIRED COMPONENTS roscpp pcl_ros nodelet micro_epsilon_scancontrol_msgs)
find_package(PkgConfig REQUIRED)

pkg_check_modules(scancontrol REQUIRED glib-2.0 aravis-0.6 mescan llt)
pkg_check_modules(scancontrol REQUIRED
aravis-0.8
glib-2.0
llt
mescan
)

catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp pcl_ros nodelet micro_epsilon_scancontrol_msgs
DEPENDS scancontrol
CATKIN_DEPENDS
micro_epsilon_scancontrol_msgs
nodelet
pcl_ros
roscpp
DEPENDS
scancontrol
)

include_directories(include ${catkin_INCLUDE_DIRS} ${scancontrol_INCLUDE_DIRS})
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