Feature/dockerfile traffic sim

.github/workflows/Docker.yaml

@@ -25,7 +25,7 @@ jobs:
     strategy:
       matrix:
         rosdistro: [humble]
-        arch: [amd64, arm64]
+        target: [base_amd64, base_arm64, base_traffic_simulator]
 
     steps:
       - name: Free Disk Space (Ubuntu)
@@ -54,7 +54,7 @@ jobs:
           docker buildx create --use
           docker buildx inspect --bootstrap
 
-      - name: Build (${{ matrix.arch }})
+      - name: Build (${{ matrix.target }})
         if: github.event_name == 'pull_request'
         uses: docker/bake-action@v3
         with:
@@ -66,9 +66,9 @@ jobs:
             *.cache-from=type=gha
           push: false
           targets: |
-            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
+            ${{ matrix.rosdistro }}_${{ matrix.target }}
 
-      - name: Build and push (${{ matrix.arch }})
+      - name: Build and push (${{ matrix.target }})
         if: github.event_name == 'workflow_dispatch'
         uses: docker/bake-action@v3
         with:
@@ -81,4 +81,4 @@ jobs:
             *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }}
           push: true
           targets: |
-            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
+            ${{ matrix.rosdistro }}_${{ matrix.target }}

Dockerfile.traffic_simulator

@@ -0,0 +1,46 @@
+ARG ROS_DISTRO="humble"
+FROM ros:${ROS_DISTRO} as build-stage
+SHELL ["/bin/bash", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NOWARNINGS=yes
+
+# cspell: ignore kisak
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache && \
+    add-apt-repository ppa:kisak/kisak-mesa -y && \
+    apt-get update && apt-get install libegl-mesa0 -y
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+COPY . $WORKDIR
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/
+RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+RUN vcs import external < dependency_${ROS_DISTRO}.repos
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
+
+ENV CC="/usr/lib/ccache/gcc"
+ENV CXX="/usr/lib/ccache/g++"
+ENV CCACHE_DIR="/ccache"
+RUN --mount=type=cache,target=/ccache source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --packages-up-to traffic_simulator \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+COPY ./docker-entrypoint.sh /
+RUN chmod a+x /docker-entrypoint.sh
+
+ENTRYPOINT ["/docker-entrypoint.sh"]

docker-bake.hcl

@@ -14,13 +14,19 @@ target "base_arm64" {
   platforms = ["linux/arm64/v8"]
 }
 
+target "base_traffic_simulator" {
+  target = "build-stage"
+  dockerfile = "Dockerfile.traffic_simulator"
+  platforms = ["linux/amd64"]
+}
+
 target "humble" {
   inherits = [base]
   name = "humble_${base}"
   tags = ["ghcr.io/tier4/scenario_simulator_v2:humble"]
   args = {"ROS_DISTRO" : "humble"}
   group = ["humble"]
   matrix = {
-    base = ["base_amd64", "base_arm64"]
+    base = ["base_amd64", "base_arm64", "base_traffic_simulator"]
   }
 }