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Makefile
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SHELL:=/bin/bash
.DEFAULT_GOAL := all
ROOT_DIR:=$(shell dirname "$(realpath $(firstword $(MAKEFILE_LIST)))")
MAKEFLAGS += --no-print-directory
.EXPORT_ALL_VARIABLES:
DOCKER_BUILDKIT?=1
DOCKER_CONFIG?=
USER:=$(shell whoami)
UID:=$(shell id -u)
GID:=$(shell id -g)
ARCHS:=amd64 arm64
ROS_DISTRO:=jazzy
OS_CODE_NAME:=noble
.PHONY: help
help:
@awk 'BEGIN {FS = ":.*##"; printf "Usage: make \033[36m<target>\033[0m\n"} /^[a-zA-Z0-9_-]+:.*?##/ { printf " \033[36m%-10s\033[0m %s\n", $$1, $$2 } /^##@/ { printf "\n\033[1m%s\033[0m\n", substr($$0, 5) } ' $(MAKEFILE_LIST)
SRC_DIR := .
BUILD_DIR := ${ROOT_DIR}/build
DOCKER_ROS2_BUILDER_PACKAGER_IMAGE := ros2_debian_builder_packager
.PHONY: all
all: docker_build build package
.PHONY: build
build: ## Build all ROS packages located in src
rm -rf $(BUILD_DIR)
mkdir -p ${BUILD_DIR}/amd64/build && cp src ${BUILD_DIR}/amd64/src -r
mkdir -p ${BUILD_DIR}/arm64/build && cp src ${BUILD_DIR}/arm64/src -r
docker run --rm -v ${BUILD_DIR}/amd64/src:/ros2_ws/src -v ${BUILD_DIR}/amd64/build:/ros2_ws/build $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):amd64 /bin/bash -c "make build"
docker run --rm --platform linux/arm64 -v ${BUILD_DIR}/arm64/src:/ros2_ws/src -v ${BUILD_DIR}/arm64/build:/ros2_ws/build $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):arm64 /bin/bash -c "make build"
.PHONY: package
package: ## Package, as Debian packages, all ROS packages located in src
mkdir -p ${BUILD_DIR}/build && cp src ${BUILD_DIR} -r
docker run --rm -v ${BUILD_DIR}/amd64/src:/ros2_ws/src -v ${BUILD_DIR}/amd64/build:/ros2_ws/build $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):amd64 /bin/bash -c "make package"
docker run --rm --platform linux/arm64 -v ${BUILD_DIR}/arm64/src:/ros2_ws/src -v ${BUILD_DIR}/arm64/build:/ros2_ws/build $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):arm64 /bin/bash -c "make package"
.PHONY: debug_amd64
debug_amd64: ## Run Docker context in interactive session for amd64
docker run -it --rm -v $(ROOT_DIR)/$(BUILD_DIR)/src:/ros2_ws/src -v $(ROOT_DIR)/$(BUILD_DIR)/build/amd64:/ros2_ws/build $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):amd64 /bin/bash -c "bash"
.PHONY: debug
debug: debug_amd64 ## Run Docker context in interactive session for amd64
.PHONY: debug_arm
debug_arm: ## Run Docker context in interactive session for arm64
docker run -it --rm --platform linux/arm64 -v $(ROOT_DIR)/$(BUILD_DIR)/src:/ros2_ws/src -v $(ROOT_DIR)/$(BUILD_DIR)/build/arm64:/ros2_ws/build $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):arm64 /bin/bash -c "bash"
.PHONY: clean
clean: ## Clean build context and Docker images
rm -rf $(BUILD_DIR)
docker rmi $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):amd64 || true
docker rmi $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):arm64 || true
.PHONY: docker_build
docker_build: clean ## Build multi-architecture Docker images for ROS2 Debian Packager
docker buildx create --name multiarch-builder --use --bootstrap || true
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
for ARCH in $(ARCHS); do \
docker buildx build \
--load \
--platform linux/$$ARCH \
-t $(DOCKER_ROS2_BUILDER_PACKAGER_IMAGE):$$ARCH \
--build-arg UID=${UID} \
--build-arg GID=${GID} \
--build-arg ROS_DISTRO=${ROS_DISTRO} \
--build-arg OS_CODE_NAME=${OS_CODE_NAME} \
-f Dockerfile . || exit 1; \
done