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fix: build with autoware #191

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merged 1 commit into from
Jan 15, 2024
Merged

fix: build with autoware #191

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29 changes: 16 additions & 13 deletions docker/build_autoware.dockerfile
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
FROM osrf/ros:humble-desktop
FROM ubuntu:22.04

ARG CARET_VERSION="main"
ARG AUTOWARE_VERSION="main"
Expand All @@ -11,6 +11,7 @@ RUN apt-get update -y && \
rm -rf /var/lib/apt/lists/*
RUN locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8
ENV ROS_DISTRO humble

# Do not use cache
ADD "https://www.random.org/sequences/?min=1&max=52&col=1&format=plain&rnd=new" /dev/null
Expand All @@ -21,18 +22,7 @@ RUN echo "===== GET CARET ====="
# git checkout "$CARET_VERSION"
COPY ./ /ros2_caret_ws

RUN echo "===== Setup CARET ====="
RUN cd ros2_caret_ws && \
rm -rf src build log install && \
mkdir src && \
vcs import src < caret.repos && \
. /opt/ros/"$ROS_DISTRO"/setup.sh && \
./setup_caret.sh -c

RUN echo "===== Build CARET ====="
RUN cd ros2_caret_ws && \
. /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
RUN apt update && apt install -y git

RUN echo "===== Setup Autoware ====="
RUN git clone https://github.com/autowarefoundation/autoware.git && \
Expand Down Expand Up @@ -73,6 +63,19 @@ RUN cd /opt/ros/humble/share/pcl_ros/cmake && \
cp export_pcl_rosExport.cmake export_pcl_rosExport.cmake_"$backup_date"_2 && \
sed -i -e 's/\/opt\/ros\/humble\/include\/rclcpp;//g' export_pcl_rosExport.cmake

RUN echo "===== Setup CARET ====="
RUN cd ros2_caret_ws && \
rm -rf src build log install && \
mkdir src && \
vcs import src < caret.repos && \
. /opt/ros/"$ROS_DISTRO"/setup.sh && \
./setup_caret.sh -c

RUN echo "===== Build CARET ====="
RUN cd ros2_caret_ws && \
. /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF

RUN echo "===== Build Autoware ====="
RUN cd autoware && \
. /opt/ros/"$ROS_DISTRO"/setup.sh && \
Expand Down
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