interim checkin of a Dockerfile to build packages on top of debian pr…

…ovided ones on 22.04 base image

.github/workflows/ubuntu_20_04.yml

@@ -32,12 +32,17 @@ jobs:
           cd staging
           ../ros_from_src/build.sh
 
-      - name: docker build 20.04
+      - name: docker build from source 20.04
         run: |
           cd ros_from_src
           docker build --build-arg IMAGE=ubuntu:20.04 --build-arg ROSCONSOLE=https://github.com/ros/rosconsole --build-arg PYTHON_MINOR_VERSION=8 . -t ros2004
 
-      - name: docker build 22.04
+      - name: docker build from source 22.04
         run: |
           cd ros_from_src
           docker build --build-arg IMAGE=ubuntu:22.04 --build-arg PYTHON_MINOR_VERSION=10 . -t ros2204
+
+      - name: docker build from source and debian 22.04
+        run: |
+          cd ros_from_src/ubuntu_2204
+          docker build  . -t ros_debian_2204

ubuntu_2204/Dockerfile

@@ -0,0 +1,106 @@
+ARG IMAGE=ubuntu:22.04
+FROM ${IMAGE}
+ARG IMAGE
+RUN echo ${IMAGE}
+
+ENV DEBIAN_FRONTEND="noninteractive"
+
+# be able to source files
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN apt-get update -y
+RUN apt-get upgrade -y
+RUN apt-get install -y apt-utils
+
+# apt installs
+RUN apt install -y git
+RUN apt install -y ros-*
+RUN apt install -y catkin-lint cython3 libapriltag-dev libceres-dev libfrei0r-ocaml-dev
+RUN apt install -y libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev
+RUN apt install -y libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
+RUN apt install -y libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libqt5svg5-dev libqt5websockets5-dev
+RUN apt install -y libqt5x11extras5-dev libqwt-qt5-dev libsdl-image1.2-dev
+RUN apt install -y libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev
+RUN apt install -y python-is-python3 python3-tf2-geometry-msgs python3-venv vim curl jq
+
+ENV DEST=/other/install
+RUN mkdir $DEST -p
+ENV SRC=/other/src
+RUN mkdir $SRC -p
+
+WORKDIR $SRC
+RUN git clone https://github.com/lucasw/ros_from_src.git
+WORKDIR $SRC/ros_from_src/ubuntu_2204
+# make git clone work through vcs without git credentials
+RUN sed -i 's/[email protected]:/https:\/\/github.com\//' base_repos.yaml
+
+WORKDIR $SRC
+RUN git clone https://github.com/dirk-thomas/vcstool.git
+WORKDIR $SRC/vcstool
+RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
+
+WORKDIR $SRC
+RUN git clone https://github.com/osrf/osrf_pycommon.git
+WORKDIR $SRC/osrf_pycommon
+RUN ls -l
+RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
+
+WORKDIR $SRC
+RUN git clone https://github.com/lucasw/catkin_tools.git --branch sanitize_cmake_prefix_path
+WORKDIR $SRC/catkin_tools
+RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
+
+WORKDIR $SRC
+RUN python --version | awk  '{print $2}' | cut -d'.' -f1
+RUN python --version | awk  '{print $2}' | cut -d'.' -f2
+# TODO(lucasw) these aren't working
+# RUN export PYTHON_MAJOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f1`
+# RUN export PYTHON_MINOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f2`
+# RUN PYTHON_MINOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f2`
+ARG PYTHON_MAJOR_VERSION=3
+ARG PYTHON_MINOR_VERSION=10
+ENV OPT_PYTHONPATH=$DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/
+RUN echo $PYTHONPATH
+ENV PYTHONPATH=$OPT_PYTHONPATH
+RUN echo $PYTHONPATH
+
+ENV PATH=$DEST/bin:$PATH
+
+# get packages and build
+ENV WS=/base_catkin_ws/src
+RUN mkdir $WS -p
+WORKDIR $WS
+RUN vcs import --shallow < $SRC/ros_from_src/ubuntu_2204/base_repos.yaml
+RUN $SRC/ros_from_src/ubuntu_2204/ignore.sh
+
+RUN echo $CMAKE_PREFIX_PATH
+
+WORKDIR $WS/..
+RUN catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
+# split these up so can take advantage of docker layers, otherwise one failure
+# means a huge rebuild
+RUN catkin build -j1 fuse_core
+RUN catkin build -j1 rtabmap_ros
+RUN catkin build -j1 rviz
+RUN catkin build -j1 plotjuggler
+RUN catkin build -j1 rqt
+RUN catkin build -j1 octomap_server
+RUN catkin build -j1 libuvc_camera
+RUN catkin build -j1 fuse_constraints
+RUN catkin build -j1 people_tracking_filter
+RUN catkin build -j1 laser_assembler
+RUN catkin build -j1 catkin_virtualenv
+RUN catkin build -j1 nmea_navsat_driver
+RUN catkin build -j1 grid_map_visualization
+RUN catkin build -j1 stereo_image_proc
+RUN catkin build -j1 jsk_topic_tools
+RUN catkin build -j1 test_catkin_virtualenv_inherited
+RUN catkin build -j1 test_catkin_virtualenv_py3_isolated
+RUN catkin build -j1
+# rospack list won't work by itself
+RUN source devel/setup.bash && rospack list
+
+# TODO(lucasw) run tests
+
+# TODO(lucasw) instead of git cloning the repo we're already in, copy in the repos.yaml and ignore file
+# so someone could edit them and rerun the dockerfile

ubuntu_2204/README.md

@@ -1,7 +1,7 @@
 Install many ros packages and dependencies of ros packages that will be built from source, from apt:
 
 ```
-sudo apt install ros-* catkin-lint cython3 libapriltag-dev libceres-dev libfrei0r-ocaml-dev libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev libsdl-image1.2-dev libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev python-is-python3 python3-tf2-geometry-msgs python3-venv vim curl jq
+sudo apt install ros-* catkin-lint cython3 libapriltag-dev libceres-dev libfrei0r-ocaml-dev libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev libsdl-image1.2-dev libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev python-is-python3 python3-osrf-pycommon python3-tf2-geometry-msgs python3-venv vim curl jq
 ```
 
 Put this into ~/.bashrc so that vcs and catkin_tools can be found (TODO(lucasw) make them install to ~/.local/... instead like pip user installs?)
@@ -21,14 +21,17 @@ cd ~/other/src
 git clone [email protected]:lucasw/ros_from_src
 ```
 
+```
+export DEST=$HOME/catkin_ws/other/install
+export PATH=$PATH:$DEST/bin
+```
+
 vcs is very useful for managing a large set of git repos:
 
 ```
 cd ~/other/src
 git clone [email protected]:dirk-thomas/vcstool.git
 cd vcstool
-export DEST=$HOME/catkin_ws/other/install
-export PATH=$PATH:$DEST/bin
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 ```
 
@@ -48,13 +51,13 @@ cd catkin_tools
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 ```
 
-Download a bunch of repos that are not available in 22.04 through apt, some with modifications to work in 22.04:
+Download a bunch of repos that are not available in 22.04 through apt, some with modifications to build in 22.04 (mostly to avoid `boost::placeholders::_N` and bind.hpp warnings and errors, and building with C++17 to avoid log4cxx 0.12 build errors):
 
 ```
 mkdir -p ~/base_catkin_ws/src
 cd ~/base_catkin_ws/src
 ln -s ~/other/src/ros_from_src/ubuntu_2204/base_repos.yaml
-vcs import < base_repos.yaml
+vcs import --shallow < base_repos.yaml
 # ignore repos that aren't yet building in 22.04
 ~/other/src/ros_from_src/ubuntu_2204/ignore.sh
 ```
@@ -71,3 +74,12 @@ source devel/setup.bash
 ```
 
 TODO(lucasw) see if rosdep install works
+
+---
+
+
+Run the above in docker:
+```
+cd ros_from_src/ubuntu_2204
+docker build . -t ros_debian_2204
+```