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use build.sh in dockerfile so don't have to maintain same process in …
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@lucasw
lucasw committed Jun 9, 2024
1 parent e24f306 commit d2bfbd8
Showing 1 changed file with 6 additions and 171 deletions.
177 changes: 6 additions & 171 deletions Dockerfile
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Expand Up @@ -9,22 +9,8 @@ ENV DEBIAN_FRONTEND="noninteractive"
RUN rm /bin/sh && ln -s /bin/bash /bin/sh

RUN apt-get update
RUN apt-get install -y apt-utils

# apt installs
# TODO(lucasw) used to do these on separate layers but github actions has a layer limit?
# it was failing later with 'ERROR: failed to solve: failed to prepare...max depth exceeded'
RUN apt-get install -y build-essential bzip2 libbz2-dev cmake git libboost-dev libboost-filesystem-dev libboost-program-options-dev libboost-regex-dev libboost-thread-dev libfmt-dev libgpgme-dev libgtest-dev liblog4cxx-dev liblz4-dev lz4 libpoco-dev libtinyxml2-dev mawk coreutils python-is-python3 python3 python3-dev python3-empy python3-setuptools python3-yaml
RUN apt-get update && apt-get install -yqq libgsl-dev wget libspnav-dev liburdfdom-dev libyaml-cpp-dev cython3 freeglut3-dev libapriltag-dev libcgal-dev libhdf5-dev libturbojpeg0-dev libzmq3-dev ocl-icd-opencl-dev opencl-headers

ENV SRC=/src
RUN mkdir $SRC -p
ENV BUILD=/build
RUN mkdir $BUILD -p
ENV WS=/catkin_ws/src
RUN mkdir $WS -p

ENV DEST=/opt/ros/noetic
RUN apt-get install -yqq apt-utils
RUN apt-get install -yqq git

# TODO(lucasw) this doesn't work in 20.04 because of log
# --build-args ROSCONSOLE=https://github.com/ros-o/rosconsole
Expand All @@ -39,162 +25,11 @@ COPY git_clone.sh $SRC/ros_from_src
# WORKDIR $SRC/ros_from_src
RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh

# python installs

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

# catkin_pkg
WORKDIR $SRC/catkin_pkg
RUN pwd
RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
RUN ls -l $OPT_PYTHONPATH
RUN ls -l $OPT_PYTHONPATH/catkin_pkg
# RUN python -c "import sys; print(sys.path)"
RUN python -c "import catkin_pkg; print(catkin_pkg.__version__)"
RUN apt-get install -y python3-pyparsing
RUN python -c "from catkin_pkg.package import parse_package"

# osrf pycommon
WORKDIR $SRC/osrf_pycommon
# TODO(lucasw) install to $DEST
RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

# catkin tools
WORKDIR $SRC/catkin_tools
RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

# cmake install
RUN mkdir $BUILD/catkin -p
WORKDIR $BUILD/catkin
RUN cmake $WS/catkin -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF -DCATKIN_INSTALL_INTO_PREFIX_ROOT=true && make && make install
RUN python -c "import catkin; print(catkin)"
RUN ls -l $DEST/bin
ENV PATH=$PATH:$DEST/bin

# console_bridge
RUN mkdir $BUILD/console_bridge -p
WORKDIR $BUILD/console_bridge
# RUN cmake ../../console_bridge -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_INSTALL_LIBDIR=lib && make && make install
RUN cmake $WS/console_bridge -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$DEST -DCMAKE_INSTALL_LIBDIR=lib
RUN make
RUN make install

# cmake_modules
WORKDIR $WS
RUN mkdir $BUILD/cmake_modules -p
RUN ls -l $DEST/lib
WORKDIR $BUILD/cmake_modules
RUN cmake $WS/cmake_modules -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF
RUN make
RUN make install

# class_loader
RUN mkdir $BUILD/class_loader -p
RUN export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST:$DEST/lib/cmake
RUN ls -l $DEST
RUN ls -l $DEST/share/cmake_modules/cmake/
WORKDIR $BUILD/class_loader
RUN cmake $WS/class_loader -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF -Dcmake_modules_DIR=$DEST/share/cmake_modules/cmake/
RUN make
RUN make install

# ros_environment
RUN mkdir $BUILD/ros_environment -p
RUN pwd
WORKDIR $BUILD/ros_environment
RUN cmake $SRC/ros_environment -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF
RUN make
RUN make install

# ros_pack
RUN mkdir $BUILD/rospack -p
WORKDIR $BUILD/rospack
RUN cmake $WS/rospack -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF -Dcmake_modules_DIR=$DEST/share/cmake_modules/cmake/
RUN make
RUN make install

# genmsg
RUN mkdir $BUILD/genmsg -p
WORKDIR $BUILD/genmsg
RUN cmake $WS/genmsg -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF
RUN make
RUN make install

# roslib
RUN mkdir $BUILD/roslib -p
WORKDIR $BUILD/roslib
RUN cmake $WS/ros/core/roslib -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF -Drospack_DIR=$DEST/share/rospack/cmake/
RUN make
RUN make install

# rosbuild
RUN mkdir $BUILD/rosbuild -p
WORKDIR $BUILD/rosbuild
RUN cmake $WS/ros/core/rosbuild -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF # -Drospack_DIR=$DEST/share/rospack/cmake/
RUN make
RUN make install

RUN apt-get update
RUN apt-get install -y python3-dateutil
RUN apt-get install -y python3-docutils
RUN export PATH=$PATH:/usr/local/bin
RUN catkin --help

RUN apt-get install -y python3-defusedxml
RUN apt-get install -y python3-distro

# ros packages, regular catkin build only for these
WORKDIR $WS


# runtime dependencies
# rosbuild
WORKDIR $SRC/rospkg
RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

WORKDIR $SRC/rosdistro
RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

# can be sudo in docker, but otherwise want git clone https://github.com/lucasw/rosdep --branch disable_root_etc_ros
WORKDIR $SRC/rosdep
RUN python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
RUN rosdep init
# ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
RUN rosdep update || true

# TODO(lucasw) already have a copy of this but needs to be in the workspace
# RUN find / | grep setup.bash
# RUN find / | grep catkin-config.cmake
WORKDIR $WS/..
RUN source $DEST/setup.bash
RUN catkin init
RUN source $DEST/setup.bash && catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
# rospack list won't work by itself
RUN source $DEST/setup.bash && rospack list

# regular catkin build
# RUN rosdep install --from-paths src --ignore-src -r -s # do a dry-run first
# RUN rosdep install --from-paths src --ignore-src -r -y
ENV CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST:$DEST/lib/cmake
RUN echo $CMAKE_PREFIX_PATH
# TODO(lucasw) put this in WS to begin with
RUN echo $ROS_PACKAGE_PATH
RUN catkin build
# rospack list won't work by itself
RUN source install/setup.bash && rospack list
COPY dependencies.sh $SRC/ros_from_src
RUN $SRC/ros_from_src/dependencies.sh

RUN apt-get install python3-netifaces
COPY build.sh $SRC/ros_from_src
RUN $SRC/ros_from_src/build.sh

WORKDIR $WS/..
# TODO(lucasw) run tests

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