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Merge pull request #44 from j3soon/refactor/template-ws
Refactor `template_ws`
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,29 @@ | ||
| # Source global ROS2 environment | ||
| source /opt/ros/$ROS_DISTRO/setup.bash | ||
| # Optionally perform apt update if it has not been executed yet | ||
| if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then | ||
| echo "apt-get update has not been executed yet. Running sudo apt-get update..." | ||
| sudo apt-get update | ||
| fi | ||
| # Optionally perform rosdep update if it has not been executed yet | ||
| if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then | ||
| echo "rosdep update has not been executed yet. Running rosdep update..." | ||
| rosdep update | ||
| fi | ||
| # Optionally build the workspace if it has not been built yet | ||
| if [ ! -f $ROS2_WS/install/setup.bash ]; then | ||
| echo "Workspace has not been built yet. Building workspace..." | ||
| cd $ROS2_WS | ||
| # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html | ||
| rosdep install --from-paths src --ignore-src -y -r | ||
| # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages | ||
| # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html | ||
| if [ $(arch) == "aarch64" ]; then | ||
| colcon build --symlink-install | ||
| else | ||
| colcon build --symlink-install | ||
| fi | ||
| echo "Workspace built." | ||
| fi | ||
| # Source workspace environment | ||
| # Note: If you have not built your workspace yet, the following command will fail | ||
| source $ROS2_WS/install/setup.bash |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,52 +1,92 @@ | ||
| # Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble | ||
| FROM osrf/ros:humble-desktop-full | ||
| FROM osrf/ros:humble-desktop-full AS amd64 | ||
| # Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble | ||
| FROM arm64v8/ros:humble AS arm64 | ||
|
|
||
| LABEL org.opencontainers.image.authors="[email protected]" | ||
| # Use docker automatic platform args to select the base image. | ||
| # It may be `arm64` or `amd64` depending on the platform. | ||
| # Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope | ||
| FROM $TARGETARCH | ||
|
|
||
| # Arguments for the default user | ||
| ARG USERNAME=user | ||
| ARG USER_UID=1000 | ||
| ARG USER_GID=$USER_UID | ||
|
|
||
| # Create the user | ||
| RUN groupadd --gid $USER_GID $USERNAME \ | ||
| && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \ | ||
| # | ||
| # [Optional] Add sudo support. Omit if you don't need to install software after connecting. | ||
| && apt-get update \ | ||
| && apt-get install -y sudo \ | ||
| && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \ | ||
| && chmod 0440 /etc/sudoers.d/$USERNAME \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| RUN apt-get update && apt-get upgrade -y \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| RUN apt-get update && apt-get install -y python3-pip \ | ||
|
|
||
| # Keep downloaded packages for caching purposes | ||
| # Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages | ||
| 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 | ||
|
|
||
| # Upgrade packages | ||
| # Ref: https://pythonspeed.com/articles/security-updates-in-docker/ | ||
| # Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages | ||
| # Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398 | ||
| # Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404 | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get upgrade -y \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
| ENV SHELL /bin/bash | ||
|
|
||
| # ******************************************************** | ||
| # * Anything else you want to do like clean up goes here * | ||
| # ******************************************************** | ||
| # Install sudo and create a user with sudo privileges | ||
| # Ref: https://stackoverflow.com/a/65434659 | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y sudo \ | ||
| && useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \ | ||
| && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # Install common tools | ||
| RUN apt-get update && apt-get install -y \ | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| curl \ | ||
| git \ | ||
| git-extras \ | ||
| htop \ | ||
| iputils-ping \ | ||
| nano \ | ||
| net-tools \ | ||
| tmux \ | ||
| tree \ | ||
| unzip \ | ||
| vim \ | ||
| wget \ | ||
| zip \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # Install Python pip | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| python3-pip \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # Install custom tools | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| git-extras \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # Install ROS2 RVIZ and Gazebo | ||
| RUN apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-gazebo-ros-pkgs \ | ||
| # Install ROS2 Gazebo packages for amd64 | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| if [ "$TARGETARCH" = "amd64" ]; then \ | ||
| apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-gazebo-ros-pkgs \ | ||
| ros-$ROS_DISTRO-gazebo-ros2-control \ | ||
| && rm -rf /var/lib/apt/lists/*; \ | ||
| fi | ||
|
|
||
| # Install ROS2 RVIZ and other custom ROS2 packages | ||
| RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| apt-get update && apt-get install -y \ | ||
| ros-$ROS_DISTRO-rviz2 \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| COPY .bashrc /home/$USERNAME/.bashrc | ||
| # TODO: Add more commands here | ||
| # For example, to install additional packages, uncomment the following lines and add the package names | ||
| # RUN --mount=type=cache,target=/var/cache/apt,sharing=private \ | ||
| # apt-get update && apt-get install -y \ | ||
| # $OTHER_PACKAGES \ | ||
| # && rm -rf /var/lib/apt/lists/* | ||
|
|
||
| # [Optional] Set the default user. Omit if you want to keep the default as root. | ||
| USER $USERNAME | ||
| COPY .bashrc /home/$USERNAME/.bashrc | ||
| # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount | ||
| RUN mkdir /home/$USERNAME/.gazebo | ||
| ENTRYPOINT [] | ||
| CMD ["/bin/bash"] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,53 +1,66 @@ | ||
| services: | ||
| template-ws: | ||
| build: . | ||
| build: | ||
| context: . | ||
| dockerfile: Dockerfile | ||
| # TODO: Specify the target platform to build the image, otherwise it will build for the host platform. | ||
| # Reference: https://docs.docker.com/compose/compose-file/build/#platforms | ||
| # platforms: | ||
| # - "linux/arm64" | ||
| image: j3soon/ros2-template-ws | ||
| container_name: ros2-template-ws | ||
| stdin_open: true | ||
| tty: true | ||
| # TODO: Comment the line below if the workspace don't need to communicate through `/dev/*` devices. | ||
| privileged: true | ||
| command: /bin/bash | ||
| network_mode: host | ||
| working_dir: /home/ros2-agv-essentials/template_ws | ||
| working_dir: /home/ros2-essentials/template_ws | ||
| environment: | ||
| - DISPLAY=${DISPLAY} | ||
| # Set ros2 environment variables. | ||
| # Set X11 server environment variable for existing display. | ||
| - DISPLAY=$DISPLAY | ||
| # TODO: Set ros2 environment variables. | ||
| # References: | ||
| # - https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html | ||
| # - https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html | ||
| # - https://docs.ros.org/en/humble/Tutorials/Demos/Logging-and-logger-configuration.html#console-output-colorizing | ||
| - ROS_LOCALHOST_ONLY=1 | ||
| - ROS_DOMAIN_ID=42 | ||
| - ROS2_WS=/home/ros2-agv-essentials/template_ws | ||
| - ROS_LOCALHOST_ONLY=0 | ||
| # Localhost only is disabled by default to allow communication with external devices. | ||
| - ROS_DOMAIN_ID=0 | ||
| # Domain ID is set to 0 to allow communication through ros1_bridge. | ||
| - RCUTILS_COLORIZED_OUTPUT=1 | ||
| # If you want to access GPU, please uncomment the lines below. | ||
| # Reference : https://docs.docker.com/compose/gpu-support/ | ||
| # deploy: | ||
| # resources: | ||
| # reservations: | ||
| # devices: | ||
| # - driver: nvidia | ||
| # count: all | ||
| # capabilities: [ gpu ] | ||
| - ROS2_WS=/home/ros2-essentials/template_ws | ||
| # TODO: Uncomment the lines below to enable GPU support. | ||
| # deploy: | ||
| # # Reference : https://docs.docker.com/compose/gpu-support/ | ||
| # resources: | ||
| # reservations: | ||
| # devices: | ||
| # - driver: nvidia | ||
| # count: all | ||
| # capabilities: [ gpu ] | ||
| volumes: | ||
| # Mount local timezone into container. ( Readonly ) | ||
| # Mount local timezone into container. | ||
| # Reference: https://stackoverflow.com/questions/57607381/how-do-i-change-timezone-in-a-docker-container | ||
| - /etc/timezone:/etc/timezone:ro | ||
| - /etc/localtime:/etc/localtime:ro | ||
| # Mount X11 server | ||
| - /tmp/.X11-unix:/tmp/.X11-unix | ||
| # X11-unix is mounted to allow GUI applications to display on host. | ||
| - $HOME/.Xauthority:/home/user/.Xauthority | ||
| # Direct Rendering Infrastructure | ||
| # Xauthority is mounted to allow X11 forwarding for remote display. | ||
| # Mount Direct Rendering Infrastructure (DRI) for hardware acceleration support such as OpenGL. | ||
| - /dev/dri:/dev/dri | ||
| # Mount sound card to prevent Gazebo warning. | ||
| - /dev/snd:/dev/snd | ||
| # Uncomment the line below and comment out the two entries above to enable USB support. | ||
| # - /dev:/dev | ||
| # Mount Gazebo models directory to reuse models downloaded during first launch. | ||
| # Reference: https://answers.ros.org/question/365658 | ||
| - ./cache/.gazebo:/home/user/.gazebo | ||
| # Mounting the following directories will forbid direct deletion. | ||
| # Consider mount these directories only if the build process is slow. | ||
| # "source=${localWorkspaceFolder}/../cache/humble/build,target=/home/ws/build,type=bind", | ||
| # "source=${localWorkspaceFolder}/../cache/humble/install,target=/home/ws/install,type=bind", | ||
| # "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind" | ||
| # Mount workspace | ||
| - ../..:/home/ros2-agv-essentials | ||
| # Note that this volume is shared among all workspaces. | ||
| - gazebo-cache:/home/user/.gazebo | ||
| # Mount root workspace to allow easy access to all workspaces. | ||
| - ../..:/home/ros2-essentials | ||
| volumes: | ||
| gazebo-cache: | ||
| name: ros2-gazebo-cache |