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Replace Dockerfiles with original ASD dockerfiles for faster builds #54

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40 changes: 15 additions & 25 deletions docker/gazebo/gazeboserver.Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -8,42 +8,32 @@ WORKDIR ${AMENT_WS}/src
# Copy in source code
COPY src/gazebo gazebo

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
(rosdep install --from-paths . --ignore-src -r -s || true) \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list
rosdep install --from-paths . --ignore-src -r -s \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

################################# Dependencies ################################
FROM ${BASE_IMAGE} AS dependencies
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y --no-install-recommends ffmpeg libsm6 libxext6 && \
rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

RUN apt-get update && apt-get install -y --no-install-recommends lsb-release curl gnupg && \
curl --progress-bar https://packages.osrfoundation.org/gazebo.gpg -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
RUN apt-get update && \
apt-get install -y --no-install-recommends ffmpeg libsm6 libxext6 lsb-release wget gnupg && \
wget -q https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
apt-get -y update && \
apt-get -y install --no-install-recommends "ros-${ROS_DISTRO}-ros-gz" ignition-fortress && \
echo "$GAZEBO_PLUGIN_PATH=/opt/ros/humble/lib" && \
apt-get update && \
apt-get install -y --no-install-recommends ros-"$ROS_DISTRO"-ros-gz ignition-fortress && \
rm -rf /var/lib/apt/lists/*
ENV GAZEBO_PLUGIN_PATH=/opt/ros/humble/lib

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN if [ -s /tmp/colcon_install_list ] && ! grep -q "^#" /tmp/colcon_install_list; then \
xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends; \
fi
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -59,9 +49,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
56 changes: 9 additions & 47 deletions docker/robot/robot.Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,6 @@ FROM ${BASE_IMAGE} AS source

WORKDIR ${AMENT_WS}/src

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*

# Copy in source code
# COPY src/robot/yolo_inference ./yolo_inference
# COPY src/robot/object_detection object_detection
Expand All @@ -22,39 +18,25 @@ COPY src/robot/planner planner
COPY src/robot/control control
COPY src/robot/bringup_robot bringup_robot

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
RUN apt-get -qq update && rosdep update && \
(rosdep install --from-paths . --ignore-src -r -s || true) \
rosdep install --from-paths . --ignore-src -r -s \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list || echo "# No additional dependencies needed" > /tmp/colcon_install_list
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

################################# Dependencies ################################
FROM ${BASE_IMAGE} AS dependencies

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*

# Clean up and update apt-get, then update rosdep
RUN apt-get clean && \
apt-get update && \
rosdep update && \
rm -rf /var/lib/apt/lists/*
# ADD MORE DEPENDENCIES HERE

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN apt-get -qq update && \
(if [ -s /tmp/colcon_install_list ] && ! grep -q "^#" /tmp/colcon_install_list; then \
xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends; \
fi) && \
apt-get -qq install -y --no-install-recommends ros-humble-librealsense2* && \
rm -rf /var/lib/apt/lists/*
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
# WORKDIR ${AMENT_WS}/src
# COPY src/robot/object_detection object_detection
WORKDIR ${AMENT_WS}
COPY --from=source ${AMENT_WS}/src src

Expand All @@ -66,31 +48,11 @@ RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
################################ Build ################################
FROM dependencies AS build

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*

# Clean up and update apt-get, then update rosdep
RUN apt-get clean && \
apt-get update && \
rosdep update && \
rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install --no-install-recommends -y \
python3-pip \
python3-dev \
python3-setuptools \
&& rm -rf /var/lib/apt/lists/*

COPY requirements.txt .
RUN pip install --no-cache-dir -r requirements.txt
#RUN pip install --no-cache-dir onnxruntime && pip3 install --no-cache-dir "numpy<2.0"

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
13 changes: 5 additions & 8 deletions docker/samples/cpp_aggregator.Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,12 @@ WORKDIR ${AMENT_WS}/src
COPY src/samples/cpp/aggregator aggregator
COPY src/wato_msgs/sample_msgs sample_msgs

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
rosdep install --from-paths . --ignore-src -r -s \
| grep 'apt-get install' \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

Expand All @@ -26,7 +23,7 @@ FROM ${BASE_IMAGE} AS dependencies

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -42,9 +39,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
14 changes: 5 additions & 9 deletions docker/samples/cpp_producer.Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -9,16 +9,12 @@ WORKDIR ${AMENT_WS}/src
COPY src/samples/cpp/producer producer
COPY src/wato_msgs/sample_msgs sample_msgs

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*

SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
rosdep install --from-paths . --ignore-src -r -s \
| grep 'apt-get install' \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

Expand All @@ -27,7 +23,7 @@ FROM ${BASE_IMAGE} AS dependencies

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -43,9 +39,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
13 changes: 5 additions & 8 deletions docker/samples/cpp_transformer.Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,12 @@ WORKDIR ${AMENT_WS}/src
COPY src/samples/cpp/transformer transformer
COPY src/wato_msgs/sample_msgs sample_msgs

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
rosdep install --from-paths . --ignore-src -r -s \
| grep 'apt-get install' \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

Expand All @@ -26,7 +23,7 @@ FROM ${BASE_IMAGE} AS dependencies

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -42,9 +39,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
13 changes: 5 additions & 8 deletions docker/samples/py_aggregator.Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,12 @@ WORKDIR ${AMENT_WS}/src
COPY src/samples/python/aggregator aggregator
COPY src/wato_msgs/sample_msgs sample_msgs

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
rosdep install --from-paths . --ignore-src -r -s \
| grep 'apt-get install' \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

Expand All @@ -26,7 +23,7 @@ FROM ${BASE_IMAGE} AS dependencies

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -42,9 +39,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
13 changes: 5 additions & 8 deletions docker/samples/py_producer.Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,12 @@ WORKDIR ${AMENT_WS}/src
COPY src/samples/python/producer producer
COPY src/wato_msgs/sample_msgs sample_msgs

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
rosdep install --from-paths . --ignore-src -r -s \
| grep 'apt-get install' \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

Expand All @@ -26,7 +23,7 @@ FROM ${BASE_IMAGE} AS dependencies

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -42,9 +39,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
13 changes: 5 additions & 8 deletions docker/samples/py_transformer.Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,12 @@ WORKDIR ${AMENT_WS}/src
COPY src/samples/python/transformer transformer
COPY src/wato_msgs/sample_msgs sample_msgs

RUN apt-get update && apt-get install -y --no-install-recommends curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
SHELL ["/bin/bash", "-o", "pipefail", "-c"]

# Scan for rosdeps
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
RUN apt-get -qq update && rosdep update && \
rosdep install --from-paths . --ignore-src -r -s \
| grep 'apt-get install' \
| (grep 'apt-get install' || true) \
| awk '{print $3}' \
| sort > /tmp/colcon_install_list

Expand All @@ -26,7 +23,7 @@ FROM ${BASE_IMAGE} AS dependencies

# Install Rosdep requirements
COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
RUN xargs -a /tmp/colcon_install_list apt-fast install -qq -y --no-install-recommends
RUN apt-fast install -qq -y --no-install-recommends "$(cat /tmp/colcon_install_list)"

# Copy in source code from source stage
WORKDIR ${AMENT_WS}
Expand All @@ -42,9 +39,9 @@ FROM dependencies AS build

# Build ROS2 packages
WORKDIR ${AMENT_WS}
RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "${WATONOMOUS_INSTALL}"
--cmake-args -DCMAKE_BUILD_TYPE=Release --install-base "$WATONOMOUS_INSTALL"

# Source and Build Artifact Cleanup
RUN rm -rf src/* build/* devel/* install/* log/*
Expand Down
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