Moving dockerfiles, removing use of dep image

Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Oct 13, 2023 · 574e85c · 574e85c
1 parent d7cf15e
commit 574e85c
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diff --git a/.github/workflows/build-releases.yaml b/.github/workflows/build-releases.yaml
@@ -12,16 +12,14 @@ env:
   REGISTRY: ghcr.io
 
 jobs:
-  build-base-image:
-    name: Build and push base image
+  build-image:
+    name: Build and push image
     runs-on: ubuntu-latest
     strategy:
       matrix:
         ros2-distro: [humble]
     steps:
       - uses: actions/checkout@v4
-        with:
-          ref: ${{ matrix.ros2-distro }}
       - name: Log in to the Container registry
         uses: docker/login-action@v3
         with:
@@ -32,28 +30,27 @@ jobs:
         id: meta
         uses: docker/metadata-action@v5
         with:
-          images: ${{ github.repository }}/rmf-deps-${{ matrix.ros2-distro }}
+          images: ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}
           tags: type=raw,value={{date 'YYYYMMDD'}}
       - name: Build and push Docker image
         uses: docker/build-push-action@v5
         with:
-          file: ./docker/${{ matrix.ros2-distro }}/base.Dockerfile
+          file: ./docker/${{ matrix.ros2-distro }}.Dockerfile
           push: ${{ github.event_name == 'push' || github.event_name == 'schedule' }}
           tags: |
             ${{ steps.meta.outputs.tags }}
-            ${{ github.repository }}/rmf-deps-${{ matrix.ros2-distro }}:latest
+            ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}:latest
 
-  build-image:
-    name: Build and push image
-    needs: build-base-image
+  build-release-image:
+    name: Build and push release image
     runs-on: ubuntu-latest
     strategy:
       matrix:
         ros2-distro: [humble]
     steps:
       - uses: actions/checkout@v4
         with:
-          ref: ${{ matrix.ros2-distro }}
+          ref: ${{ matrix.ros2-distro }}-release
       - name: Log in to the Container registry
         uses: docker/login-action@v3
         with:
@@ -64,45 +61,13 @@ jobs:
         id: meta
         uses: docker/metadata-action@v5
         with:
-          images: ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}
+          images: ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}-release
           tags: type=raw,value={{date 'YYYYMMDD'}}
       - name: Build and push Docker image
         uses: docker/build-push-action@v5
         with:
-          file: ./docker/${{ matrix.ros2-distro }}/${{ matrix.ros2-distro }}.Dockerfile
+          file: ./docker/${{ matrix.ros2-distro }}-release.Dockerfile
           push: ${{ github.event_name == 'push' || github.event_name == 'schedule' }}
           tags: |
             ${{ steps.meta.outputs.tags }}
-            ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}:latest
-
-  # build-release-image:
-  #   name: Build and push release image
-  #   needs: build-base-image
-  #   runs-on: ubuntu-latest
-  #   strategy:
-  #     matrix:
-  #       ros2-distro: [humble]
-  #   steps:
-  #     - uses: actions/checkout@v4
-  #       with:
-  #         ref: ${{ matrix.ros2-distro }}-release
-  #     - name: Log in to the Container registry
-  #       uses: docker/login-action@v3
-  #       with:
-  #         registry: ${{ env.REGISTRY }}
-  #         username: ${{ github.actor }}
-  #         password: ${{ secrets.GITHUB_TOKEN }}
-  #     - name: Extract tags for Docker
-  #       id: meta
-  #       uses: docker/metadata-action@v5
-  #       with:
-  #         images: ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}-release
-  #         tags: type=raw,value={{date 'YYYYMMDD'}}
-  #     - name: Build and push Docker image
-  #       uses: docker/build-push-action@v5
-  #       with:
-  #         file: ./docker/${{ matrix.ros2-distro }}/${{ matrix.ros2-distro }}-release.Dockerfile
-  #         push: ${{ github.event_name == 'push' || github.event_name == 'schedule' }}
-  #         tags: |
-  #           ${{ steps.meta.outputs.tags }}
-  #           ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}-release:latest
+            ${{ github.repository }}/rmf-demos-${{ matrix.ros2-distro }}-release:latest
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -32,7 +32,7 @@ jobs:
       - name: Build and push Docker image
         uses: docker/build-push-action@v5
         with:
-          file: ./docker/rolling/Dockerfile
+          file: ./docker/rolling.Dockerfile
           push: ${{ github.event_name == 'push' || github.event_name == 'schedule' }}
           tags: |
             ${{ steps.meta.outputs.tags }}

diff --git a/docker/humble-release.Dockerfile b/docker/humble-release.Dockerfile
@@ -0,0 +1,64 @@
+#-----------------------
+# Stage 1 - Dependencies
+#-----------------------
+
+FROM ros:humble AS builder
+
+RUN apt-get update \
+  && apt-get install -y \
+    cmake \
+    curl \
+    git \
+    python3-colcon-common-extensions \
+    python3-vcstool \
+    wget \
+    python3-pip \
+    clang lldb lld \
+  && pip3 install flask-socketio fastapi uvicorn \
+  && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 \
+  && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+
+# setup sources.list
+RUN . /etc/os-release \
+    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
+
+RUN mkdir $HOME/rmf_demos_ws
+WORKDIR $HOME/rmf_demos_ws
+RUN mkdir src
+RUN rosdep update --rosdistro $ROS_DISTRO
+
+RUN git clone https://github.com/open-rmf/rmf_demos -b humble src/rmf_demos
+RUN apt-get update \
+    && apt-get upgrade -y \
+    && rosdep update \
+    && rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -yr \
+    && rm -rf /var/lib/apt/lists/*
+
+#-----------------
+# Stage 2 - build
+#-----------------
+
+# colcon compilation
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+#----------
+# Stage 3
+#----------
+
+# TODO: rosdep doesn't support installing only exec dependencies (https://github.com/ros-infrastructure/rosdep/pull/727)
+#   When the PR is merged, we can do a multi-stage build and include only whats needed at runtime.
+# FROM ros:foxy
+# COPY --from=0 /root/rmf/install /opt/rmf
+# RUN rosdep ...
+# COPY --from=builder /root/rmf/install /opt/rmf
+
+# cleanup
+RUN rm -rf build devel src \
+  && sed -i '$isource "/rmf_demos_ws/install/setup.bash"' /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/docker/humble.Dockerfile b/docker/humble.Dockerfile
@@ -0,0 +1,65 @@
+#-----------------------
+# Stage 1 - Dependencies
+#-----------------------
+
+FROM ros:humble AS builder
+
+RUN apt-get update \
+  && apt-get install -y \
+    cmake \
+    curl \
+    git \
+    python3-colcon-common-extensions \
+    python3-vcstool \
+    wget \
+    python3-pip \
+    clang lldb lld \
+  && pip3 install flask-socketio fastapi uvicorn \
+  && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 \
+  && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+
+# setup sources.list
+RUN . /etc/os-release \
+    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
+
+RUN mkdir $HOME/rmf_demos_ws
+WORKDIR $HOME/rmf_demos_ws
+RUN mkdir src
+RUN rosdep update --rosdistro $ROS_DISTRO
+
+RUN wget https://raw.githubusercontent.com/open-rmf/rmf/humble/rmf.repos
+RUN vcs import src < rmf.repos \
+    && apt-get update \
+    && apt-get upgrade -y \
+    && rosdep update \
+    && rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -yr \
+    && rm -rf /var/lib/apt/lists/*
+
+#-----------------
+# Stage 2 - build
+#-----------------
+
+# colcon compilation
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+#----------
+# Stage 3
+#----------
+
+# TODO: rosdep doesn't support installing only exec dependencies (https://github.com/ros-infrastructure/rosdep/pull/727)
+#   When the PR is merged, we can do a multi-stage build and include only whats needed at runtime.
+# FROM ros:foxy
+# COPY --from=0 /root/rmf/install /opt/rmf
+# RUN rosdep ...
+# COPY --from=builder /root/rmf/install /opt/rmf
+
+# cleanup
+RUN rm -rf build devel src \
+  && sed -i '$isource "/rmf_demos_ws/install/setup.bash"' /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
diff --git a/docker/humble/base.Dockerfile b/docker/humble/base.Dockerfile
diff --git a/docker/humble/humble-release.Dockerfile b/docker/humble/humble-release.Dockerfile
diff --git a/docker/humble/humble.Dockerfile b/docker/humble/humble.Dockerfile
diff --git a/docker/rolling/Dockerfile → docker/rolling.Dockerfile b/docker/rolling/Dockerfile → docker/rolling.Dockerfile
@@ -30,9 +30,7 @@ WORKDIR $HOME/rmf_demos_ws
 RUN mkdir src
 RUN rosdep update --rosdistro $ROS_DISTRO
 
-# This replaces: wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
-ENV DEBIAN_FRONTEND=noninteractive
-COPY rmf.repos rmf.repos
+RUN wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
 RUN vcs import src < rmf.repos \
     && apt-get update \
     && apt-get upgrade -y \