Dockerfile.ros2

# syntax=docker/dockerfile:1.6.0
#=============================================================================
FROM amd64/ros:humble-ros-core-jammy AS kachaka-api-base-amd64
#-----------------------------------------------------------------------------
FROM arm64v8/ros:humble-ros-core-jammy AS kachaka-api-base-arm64

#=============================================================================
FROM kachaka-api-base-${TARGETARCH} AS kachaka-api-base

COPY --from=impactaky/mimic-cross:host-jammy /usr/bin/qemu-aarch64-static /usr/bin
ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update && \
    apt-get -y install --no-install-recommends \
        dumb-init \
        language-pack-ja-base \
        libgrpc++ \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

#=============================================================================
FROM kachaka-api-base AS kachaka-api-rosdep

RUN apt-get update && \
    apt-get -y install --no-install-recommends \
        python3-rosdep \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN rosdep init
RUN rosdep update

RUN mkdir -p /ws/src
WORKDIR /ws

COPY ros2/kachaka_description/package.xml /ws/src/kachaka_description/package.xml
COPY ros2/kachaka_grpc_ros2_bridge/package.xml /ws/src/kachaka_grpc_ros2_bridge/package.xml
COPY ros2/kachaka_interfaces/package.xml /ws/src/kachaka_interfaces/package.xml
COPY ros2/demos/kachaka_follow/package.xml /ws/src/kachaka_follow/package.xml
COPY ros2/demos/kachaka_smart_speaker/package.xml /ws/src/kachaka_smart_speaker/package.xml
COPY ros2/demos/kachaka_speak/package.xml /ws/src/kachaka_speak/package.xml
COPY ros2/demos/kachaka_vision/package.xml /ws/src/kachaka_vision/package.xml

RUN rosdep keys --ignore-src --from-paths src \
    | xargs rosdep resolve --rosdistro humble --os=ubuntu:jammy \
    | grep -v '^#' \
    | sed 's/ \+/\n/g'\
    | sort \
    > /rosdep-package-list.txt

#=============================================================================
FROM kachaka-api-base AS kachaka-api-ros-base

COPY --from=kachaka-api-rosdep /rosdep-package-list.txt /tmp/rosdep-package-list.txt
RUN cat /tmp/rosdep-package-list.txt \
    && apt-get update \
    && cat /tmp/rosdep-package-list.txt | xargs apt-get install -y --no-install-recommends \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

#=============================================================================
FROM kachaka-api-base AS kachaka-api-protogen

RUN apt-get update && \
    apt-get -y install --no-install-recommends \
        protobuf-compiler-grpc \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

COPY protos/kachaka-api.proto /ws/protos/
WORKDIR /ws
RUN mkdir -p \
        /ws/gen-src/cpp \
    && protoc -I protos \
              --grpc_out=/ws/gen-src/cpp \
              --plugin=protoc-gen-grpc=/usr/bin/grpc_cpp_plugin \
              --cpp_out=/ws/gen-src/cpp \
              protos/*.proto

#=============================================================================
FROM kachaka-api-ros-base AS kachaka-api-build-base-arm64-arm64

#-----------------------------------------------------------------------------
FROM kachaka-api-ros-base AS kachaka-api-build-base-amd64-amd64

#-----------------------------------------------------------------------------
FROM kachaka-api-ros-base AS kachaka-api-build-base-amd64-arm64

COPY --from=impactaky/mimic-cross:host-jammy / /host
RUN mv /host/mimic-cross-target /mimic-cross
RUN /mimic-cross/setup.sh

#-----------------------------------------------------------------------------
FROM kachaka-api-build-base-${BUILDARCH}-${TARGETARCH} AS kachaka-api-build-base

#=============================================================================
FROM kachaka-api-build-base AS kachaka-api-build-grpc-ros2-bridge

ARG PREFIX=/opt/kachaka

RUN apt-get update && \
    apt-get -y install --no-install-recommends \
        libprotobuf-dev \
        libgrpc++-dev \
        nlohmann-json3-dev \
        ros-dev-tools \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

WORKDIR /ws

COPY ros2/kachaka_description /ws/src/kachaka_description
COPY ros2/kachaka_grpc_ros2_bridge /ws/src/kachaka_grpc_ros2_bridge
COPY ros2/kachaka_interfaces /ws/src/kachaka_interfaces
COPY --from=kachaka-api-protogen /ws/gen-src/cpp /ws/src/kachaka_grpc_ros2_bridge/gen-src
RUN . /opt/ros/humble/setup.sh && \
    colcon build --install-base ${PREFIX} --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release

#=============================================================================
FROM kachaka-api-build-base AS kachaka-api-build-ros2-demos

ARG PREFIX=/opt/kachaka

RUN apt-get update && \
    apt-get -y install --no-install-recommends \
        ros-dev-tools \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

WORKDIR /ws

COPY --from=kachaka-api-build-grpc-ros2-bridge ${PREFIX} ${PREFIX}
COPY ros2/demos/kachaka_follow /ws/src/kachaka_follow
COPY ros2/demos/kachaka_smart_speaker /ws/src/kachaka_smart_speaker
COPY ros2/demos/kachaka_speak /ws/src/kachaka_speak
COPY ros2/demos/kachaka_vision /ws/src/kachaka_vision
RUN . /opt/kachaka/setup.sh && \
    colcon build --install-base ${PREFIX} --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release

#=============================================================================
FROM kachaka-api-ros-base AS kachaka-grpc-ros2-bridge

ARG PREFIX=/opt/kachaka

COPY tools/ros2_bridge/env.sh /opt/kachaka/env.sh
COPY --from=kachaka-api-build-grpc-ros2-bridge ${PREFIX} ${PREFIX}

ARG BUILD_VERSION="no-version-specified"
ENV BUILD_VERSION=${BUILD_VERSION}
ENTRYPOINT ["dumb-init", "--rewrite", "15:2", "--", "/opt/kachaka/env.sh"]

#=============================================================================
FROM kachaka-api-ros-base AS kachaka-ros2-demos

ARG PREFIX=/opt/kachaka

COPY --from=kachaka-api-build-ros2-demos ${PREFIX} ${PREFIX}

ARG BUILD_VERSION="no-version-specified"
ENV BUILD_VERSION=${BUILD_VERSION}
ENTRYPOINT ["dumb-init", "--rewrite", "15:2", "--", "/opt/kachaka/env.sh"]

#=============================================================================
FROM ubuntu:22.04 AS kachaka-playground-base-amd64

#-----------------------------------------------------------------------------
# This image was created by executing the following command within https://github.com/multiarch/ubuntu-core
# sudo ./update.sh -a arm64 -v jammy -q aarch64 -u v6.1.0-5 -d docker.io/multiarch/ubuntu-core -t arm64
FROM asia-northeast1-docker.pkg.dev/pfr-flexci/tmp/multiarch/ubuntu-core:KEEP-arm64-jammy AS kachaka-playground-base-arm64

#-----------------------------------------------------------------------------
FROM kachaka-playground-base-${TARGETARCH} AS kachaka-playground

ENV DEBIAN_FRONTEND=noninteractive

# NOTE: gcc is required for installing jupyterlab install
RUN apt-get update && \
    apt-get -y install --no-install-recommends \
        curl \
        gcc \
        git \
        iproute2 \
        libglib2.0-0 \
        nano \
        net-tools \
        openssh-server \
        python3-dev \
        python3-pip \
        python3-venv \
        rsync \
        unzip \
        vim-tiny \
        wget \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*
RUN pip3 install jupyterlab grpcio-tools ipywidgets

RUN sed -i 's/^#PasswordAuthentication yes/PasswordAuthentication no/' /etc/ssh/sshd_config
RUN mkdir /var/run/sshd
# TODO(nozaki) Change password
RUN adduser kachaka --uid 5000
RUN echo kachaka:kachaka | chpasswd

ARG PROTO_DIR=/usr/local/share/kachaka/protos
ARG PYTHON_PACKAGE_DIR=/usr/local/lib/python3.10/dist-packages/
COPY protos/kachaka-api.proto ${PROTO_DIR}/kachaka-api.proto
RUN python3 -m grpc_tools.protoc \
    -I${PROTO_DIR} \
    --python_out=${PYTHON_PACKAGE_DIR} \
    --pyi_out=${PYTHON_PACKAGE_DIR} \
    --grpc_python_out=${PYTHON_PACKAGE_DIR} \
    ${PROTO_DIR}/*.proto

# These lines should come at the end of the kachaka-playground
WORKDIR /home/kachaka
USER kachaka

#=============================================================================
FROM scratch AS kachaka-api-dummy

COPY --from=kachaka-grpc-ros2-bridge /etc/os-release /dummy-copy-for-build
COPY --from=kachaka-ros2-demos /etc/os-release /dummy-copy-for-build
COPY --from=kachaka-playground /etc/os-release /dummy-copy-for-build