ros/ubuntu: add Docker workspace ros/ubuntu to build an image with ROS 1 + orocos_toolchain + rtt_ros_integration

ros/ubuntu/Dockerfile

@@ -0,0 +1,83 @@
+## Provide Orocos Toolchain (RTT/OCL) and rtt_ros_integration overlay workspace on top of the
+## official ROS 2 docker images.
+
+ARG ROS_DISTRO
+ARG UBUNTU_DISTRO
+
+## *************************************************************************************************
+## Stage base: prepare build environment
+## *************************************************************************************************
+FROM ros:${ROS_DISTRO}-ros-base-${UBUNTU_DISTRO} AS base
+
+# add custom rosdep rule file and update rosdep database
+COPY prereqs.yaml /etc/ros/rosdep/
+RUN echo "yaml file:///etc/ros/rosdep/prereqs.yaml" > /etc/ros/rosdep/sources.list.d/10-custom.list
+RUN rosdep update
+
+# install python-vcstool used to clone repositories below
+RUN apt-get update \
+    && apt-get install -y python-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup new entrypoint and default command
+COPY orocos_entrypoint.sh /orocos_entrypoint.sh
+ENTRYPOINT [ "/orocos_entrypoint.sh" ]
+CMD [ "bash" ]
+
+## *************************************************************************************************
+## Stage orocos_toolchain: clone, build and install Orocos Toolchain using CMake (with CORBA)
+## *************************************************************************************************
+FROM base AS orocos_toolchain
+
+COPY orocos_toolchain.repos /build/src/
+RUN vcs import --recursive /build/src < /build/src/orocos_toolchain.repos \
+    && cd /build \
+    && . /opt/ros/${ROS_DISTRO}/local_setup.sh \
+    #
+    # Install dependencies with rosdep
+    && apt-get update \
+    && apt-get install -y ruby \
+    && rosdep install -y --from-path src --ignore-src \
+    && rm -rf /var/lib/apt/lists/* \
+    #
+    # Build the workspace
+    && catkin_make_isolated \
+        --install \
+        --install-space /opt/orocos/${ROS_DISTRO} \
+        --cmake-args \
+            -DBUILD_TESTING=OFF \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DENABLE_CORBA=ON \
+            -DCORBA_IMPLEMENTATION=OMNIORB \
+            -DOROCOS_INSTALL_INTO_PREFIX_ROOT=ON \
+    #
+    # Cleanup
+    && rm -rf /build
+
+## *************************************************************************************************
+## Stage overlay: clone, build and install overlay workspaces to /opt/ros/${ROS_DISTRO}
+## *************************************************************************************************
+FROM orocos_toolchain AS overlay
+
+COPY overlay.repos /build/src/
+RUN vcs import --recursive /build/src < /build/src/overlay.repos \
+    && cd /build \
+    && . /opt/ros/${ROS_DISTRO}/local_setup.sh \
+    && . /opt/orocos/${ROS_DISTRO}/local_setup.sh \
+    #
+    # Install dependencies with rosdep
+    && apt-get update \
+    && ROS_PACKAGE_PATH=/opt/orocos/${ROS_DISTRO}/share:/opt/ros/${ROS_DISTRO}/share \
+           rosdep install -y --from-path . --ignore-src \
+    && rm -rf /var/lib/apt/lists/* \
+    #
+    # Build the workspace
+    && catkin_make_isolated \
+        --install \
+        --install-space /opt/orocos/${ROS_DISTRO} \
+        --cmake-args \
+            -DCATKIN_ENABLE_TESTING=OFF \
+            -DCMAKE_BUILD_TYPE=Release \
+    #
+    # Cleanup
+    && rm -rf /build

ros/ubuntu/hooks/build

@@ -0,0 +1,24 @@
+#!/bin/bash
+# Build hook for Docker Hub.
+# See https://docs.docker.com/docker-hub/builds/advanced/.
+
+#DOCKER_TAG=eloquent-ros-base-bionic
+ROS_DISTRO=${DOCKER_TAG%%-*}
+UBUNTU_DISTRO=${DOCKER_TAG##*-}
+
+# Build and push the stage orocos_toolchain first.
+# Caching should make sure that the actual build step only rebuilds the final stage overlay.
+docker build \
+  -t orocos/ros-ci:${DOCKER_TAG} \
+  --build-arg ROS_DISTRO=${ROS_DISTRO} \
+  --build-arg UBUNTU_DISTRO=${UBUNTU_DISTRO} \
+  --target orocos_toolchain \
+  .
+docker push orocos/ros-ci:${DOCKER_TAG}
+
+# Only then build the final stage. It will be pushed by Docker Hub.
+docker build \
+  -t orocos/ros:${DOCKER_TAG} \
+  --build-arg ROS_DISTRO=${ROS_DISTRO} \
+  --build-arg UBUNTU_DISTRO=${UBUNTU_DISTRO} \
+  .

ros/ubuntu/orocos_entrypoint.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+# Setup ROS and orocos environment
+source "/opt/ros/$ROS_DISTRO/setup.sh"
+[ -d "/opt/orocos/$ROS_DISTRO" ] && source "/opt/orocos/$ROS_DISTRO/local_setup.sh"
+
+# Append commands to setup ROS and orocos environment to ~/.bashrc.
+# This is only relevant if the command to be executed ("$@") is an interactive bash shell.
+# Or for later `docker exec -it bash`.
+# It is not sufficient to source bash-specific setup scripts here, because bash is executed as
+# a new process. Aliases, command-line completion etc. configured here would have no effect.
+if ! grep -q '# setup ROS and orocos environment' ~/.bashrc >/dev/null; then
+  cat >>~/.bashrc <<'EOF'
+
+# setup ROS and orocos environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+[ -d "/opt/orocos/$ROS_DISTRO" ] && source "/opt/orocos/$ROS_DISTRO/local_setup.bash"
+EOF
+fi
+
+exec "$@"

ros/ubuntu/orocos_toolchain.repos

@@ -0,0 +1,5 @@
+repositories:
+  orocos_toolchain:
+    type: git
+    url: https://github.com/orocos-toolchain/orocos_toolchain.git
+    version: ros2

ros/ubuntu/overlay.repos

@@ -0,0 +1,5 @@
+repositories:
+  rtt_ros_integration:
+    type: git
+    url: https://github.com/orocos/rtt_ros_integration.git
+    version: HEAD

ros/ubuntu/prereqs.yaml

@@ -0,0 +1,19 @@
+# Package ruby-facets does not exist anymore since Ubuntu Focal.
+# Use gem instead.
+facets:
+  ubuntu:
+    '*': ruby-facets
+    focal:
+      gem: facets
+
+# Use metaruby and utilrb from rubygems.org.
+metaruby:
+  debian:
+    gem: metaruby
+  ubuntu:
+    gem: metaruby
+utilrb:
+  debian:
+    gem: utilrb
+  ubuntu:
+    gem: utilrb

ros2/ubuntu/orocos_entrypoint.sh

@@ -1,19 +1,19 @@
 #!/bin/bash
 set -e
 
-# Setup ros2 and orocos environment
+# Setup ROS and orocos environment
 source "/opt/ros/$ROS_DISTRO/setup.sh"
 [ -d "/opt/orocos/$ROS_DISTRO" ] && source "/opt/orocos/$ROS_DISTRO/local_setup.sh"
 
-# Append commands to setup ros2 and orocos environment to ~/.bashrc.
+# Append commands to setup ROS and orocos environment to ~/.bashrc.
 # This is only relevant if the command to be executed ("$@") is an interactive bash shell.
 # Or for later `docker exec -it bash`.
 # It is not sufficient to source bash-specific setup scripts here, because bash is executed as
 # a new process. Aliases, command-line completion etc. configured here would have no effect.
-if ! grep -q '# setup ros2 and orocos environment' ~/.bashrc >/dev/null; then
+if ! grep -q '# setup ROS and orocos environment' ~/.bashrc >/dev/null; then
   cat >>~/.bashrc <<'EOF'
 
-# setup ros2 and orocos environment
+# setup ROS and orocos environment
 source "/opt/ros/$ROS_DISTRO/setup.bash"
 [ -d "/opt/orocos/$ROS_DISTRO" ] && source "/opt/orocos/$ROS_DISTRO/local_setup.bash"
 EOF