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Mavros in its own build stage #241

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3fb8fbf
Allow pushing to apl-ocean-engineering
amarburg Aug 6, 2024
d252397
Install cppzmq-dev for Gazebo
amarburg Aug 5, 2024
404b5ef
Reverse change in docker.yaml action.
amarburg Aug 8, 2024
d7dae25
Moved Mavros build to a build stage, which hopefully will get cached.
amarburg Aug 13, 2024
ae3c175
Minor update of comment in docker-bake.hcl
amarburg Aug 22, 2024
666bdd6
Use ros2-gbp/ repo for mavlink.
amarburg Nov 7, 2024
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145 changes: 102 additions & 43 deletions .docker/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,17 +1,102 @@
ARG ROS_DISTRO=rolling
FROM ros:$ROS_DISTRO-ros-base AS ci
FROM ros:$ROS_DISTRO-ros-base AS base

# Create the non-root user early because both "mavros" and "robot"
# stages depend its existence
RUN apt-get -q update \
&& apt-get -q -y upgrade \
&& apt-get -q install --no-install-recommends -y \
git \
gosu \
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@evan-palmer evan-palmer Aug 16, 2024 •
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I'm open to leaving gosu in here if we split this into its own temporary Dockerfile, but if we add it to the original, we should consider a separate PR (or just add it with #226)

sudo \
&& apt-get autoremove -y \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*

# Ubuntu 24.04 "Noble", which is used as the base image for
# jazzy and rolling images, now includes a user "ubuntu" at UID 1000
ARG USERNAME=ubuntu
ARG USER_UID=1000
ARG USER_GID=$USER_UID

RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
&& chmod 0440 /etc/sudoers.d/$USERNAME \
&& usermod -a -G dialout $USERNAME \
&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc

ENV DEBIAN_FRONTEND=noninteractive
ENV USER=$USERNAME

# This needs to be defined in a shared stage so it's available in both "mavros" and "robot"
ENV MAVROS_WORKSPACE=/home/$USERNAME/ws_mavros

#== Build Mavros/Mavlink from source in its own workspace.
# Extend that workspace into the "blue" workspace
#
FROM base AS mavros

ENV DEBIAN_FRONTEND=noninteractive
USER $USERNAME

WORKDIR $MAVROS_WORKSPACE/src

# As a reminder to self. git clone by itself will not break cache
# when the repo changes. To rebuild mavros from the latest, you
# must "docker build --no-cache" to force a rebuild
ARG MAVROS_RELEASE=ros2
ARG MAVLINK_RELEASE=release/rolling/mavlink
RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/ros2-gbp/mavlink-gbp-release.git mavlink
# Fix two issues currently in mavros/ros2
# - mavgen uses future.standard_library for backwards compatibility with Python2;
# However, this caused issues with Python 3.12 installed in "noble".
# Comment those lines out in mavlink.
#
# - Fix linkage for yaml-cpp in mavros_extra_plugins
RUN sed -i -e 's/^from future import standard_library/#from future import standard_library/' \
-e 's/standard_library.install_aliases()/#standard_library.install_aliases()/' \
mavlink/pymavlink/generator/mavgen.py && \
sed -i -e 's/^# find_package(yaml_cpp REQUIRED)/find_package(yaml-cpp REQUIRED)/' \
-e '/^ament_target_dependencies(mavros_extras_plugins$/i target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)' \
-e '/^ament_target_dependencies(mavros_extras$/i target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)' \
mavros/mavros_extras/CMakeLists.txt

WORKDIR $MAVROS_WORKSPACE
USER root
RUN apt-get -q update \
&& apt-get -q -y upgrade \
&& gosu $USERNAME rosdep update \
&& gosu $USERNAME rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
&& apt-get autoremove -y \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*
USER $USERNAME

# Build Mavros workspace
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
&& colcon build \
&& rm -rf $MAVROS_WORKSPACE/build

# == "Standard" Blue Docker image proceeds from here
#
FROM base AS ci

ENV DEBIAN_FRONTEND=noninteractive
USER root

WORKDIR /root/ws_blue
COPY . src/blue

# Install apt packages needed for CI
#
# Explicitly uninstall and block mavros and mavlink packages from APT
# this will trigger an error if rosdep attempts to install mavros
# from APT rather than using the version in $MAVROS_WORKSPACE
RUN apt-get -q update \
&& apt-get -q -y upgrade \
&& apt-get remove -y "*mavros*" "*mavlink*" \
&& apt-mark hold "*mavros*" "*mavlink*" \
&& apt-get -q install --no-install-recommends -y \
git \
sudo \
clang \
clang-format-14 \
clang-tidy \
Expand All @@ -27,12 +112,17 @@ RUN apt-get -q update \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*

# Install all ROS dependencies for _just_ blue
# (we have not imported other repos from .repos files)
# As it's a dependency for blue, copy Mavros from its build stage
COPY --from=mavros --chown=$USERNAME:$USERNAME $MAVROS_WORKSPACE $MAVROS_WORKSPACE

# Install all ROS dependencies for _just_ blue (and mavros)
# (we have not imported the other repos from blue.repos files)
RUN apt-get -q update \
&& apt-get -q -y upgrade \
&& rosdep update \
&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
&& . "${MAVROS_WORKSPACE}/install/setup.sh" \
&& rosdep install -y --from-paths ${MAVROS_WORKSPACE}/src --ignore-src --rosdistro ${ROS_DISTRO} \
&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
&& rm -rf src \
&& apt-get autoremove -y \
&& apt-get clean -y \
Expand All @@ -48,23 +138,8 @@ RUN apt-get -q update \
#
FROM ci AS robot

#
# Ubuntu 24.04 "Noble", which is used as the base image for
# jazzy and rolling images, now includes a user "ubuntu" at UID 1000
ARG USERNAME=ubuntu
ARG USER_UID=1000
ARG USER_GID=$USER_UID

RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
&& chmod 0440 /etc/sudoers.d/$USERNAME \
&& usermod -a -G dialout $USERNAME \
&& echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc

ENV DEBIAN_FRONTEND=noninteractive

# Switch to the non-root user for the rest of the installation
USER $USERNAME
ENV USER=$USERNAME

# Python in Ubuntu is now marked as a "Externally managed environment",
# Per best practice, create a venv for local python packages
Expand Down Expand Up @@ -108,41 +183,23 @@ RUN sudo apt-get -q update \
&& sudo apt-get clean -y \
&& sudo rm -rf /var/lib/apt/lists/*

# Manually install MAVROS from source in the ws_blue/ workspace
WORKDIR $USER_WORKSPACE/src/
ARG MAVROS_RELEASE=ros2
ARG MAVLINK_RELEASE=release/rolling/mavlink
RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mavlink/mavlink-gbp-release.git mavlink
# - mavgen uses future.standard_library for backwards compatibility with Python2;
# However, this caused issues with Python 3.12 installed in "noble".
# Comment those lines out in mavlink.
#
# - Fix linkage for yaml-cpp in mavros_extra_plugins
RUN sed -i -e 's/^from future import standard_library/#from future import standard_library/' \
-e 's/standard_library.install_aliases()/#standard_library.install_aliases()/' \
mavlink/pymavlink/generator/mavgen.py && \
sed -i -e 's/^# find_package(yaml_cpp REQUIRED)/find_package(yaml-cpp REQUIRED)/' \
-e '/^ament_target_dependencies(mavros_extras_plugins$/i target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)' \
-e '/^ament_target_dependencies(mavros_extras$/i target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)' \
mavros/mavros_extras/CMakeLists.txt

WORKDIR $USER_WORKSPACE
RUN sudo apt-get -q update \
&& sudo apt-get -q -y upgrade \
&& vcs import src < src/blue/blue.repos \
&& rosdep update \
&& . "${MAVROS_WORKSPACE}/install/setup.sh" \
&& rosdep install -y --from-paths ${MAVROS_WORKSPACE}/src --ignore-src --rosdistro ${ROS_DISTRO} \
&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
&& sudo apt-get autoremove -y \
&& sudo apt-get clean -y \
&& sudo rm -rf /var/lib/apt/lists/*

# Actually build workspace
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
RUN . "${MAVROS_WORKSPACE}/install/setup.sh" \
&& colcon build

RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
&& echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc \
&& echo "source $VIRTUAL_ENV/bin/activate" >> /home/$USERNAME/.bashrc \
&& echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc

Expand Down Expand Up @@ -170,6 +227,7 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk
xterm \
rapidjson-dev \
libopencv-dev \
cppzmq-dev \
&& apt-get autoremove -y \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*
Expand Down Expand Up @@ -218,6 +276,7 @@ RUN sudo apt-get -q update \
&& sudo apt-get -q -y upgrade \
&& vcs import src < src/blue/sim.repos \
&& rosdep update \
&& . "${MAVROS_WORKSPACE}/install/setup.sh" \
&& rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
&& sudo apt-get autoremove -y \
&& sudo apt-get clean -y \
Expand All @@ -226,7 +285,7 @@ RUN sudo apt-get -q update \
# For users that build this on a laptop or system with limited RAM,
# Modify the 'colcon build' line to be 'MAKEFLAGS="-j1 -l1" colcon build'
# This will limit the amount of RAM that colcon is allowed to use
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
RUN . "${MAVROS_WORKSPACE}/install/setup.sh" \
&& colcon build

# Setup the simulation environment variables
Expand Down
28 changes: 22 additions & 6 deletions .docker/docker-bake.hcl
View file
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Original file line number Diff line number Diff line change
@@ -1,14 +1,30 @@
#
# Override these variables with environment variables
# e.g.
# By default this bakefile builds:
# - the "ci" and "robot" stages for both amd64 and arm64 (with Qemu), and
# - the "desktop" and "desktop-nvidia" stages for amd64
# for ROS "rolling"
#
# BLUE_ROS_DISTRO=iron docker buildx bake
# To build all default targets and load the resulting images
# to _this_ machine:
#
# or
# docker buildx bake --load
#
# export BLUE_ROS_DISTRO=iron
# docker buildx bake
# To override this default behavior, create a file "docker-bake.override.hcl"
# in this directory which overrides the variables in this file. For example,
#
# To build both "ci" and "robot" for _only_ amd64:
#
# > target "ci" {
# > platforms = ["linux/amd64"]
# > }
#
# To set the ROS disto:
#
# > variable "BLUE_ROS_DISTRO" { default = "jazzy" }
#
# Alternatively, set the environment variable BLUE_ROS_DISTRO
#

variable "BLUE_ROS_DISTRO" { default = "rolling" }
variable "BLUE_GITHUB_REPO" { default = "robotic-decision-making-lab/blue" }

Expand Down