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added dependency caching for faster builds using buildkit #54

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added dependency caching for faster builds using buildkit #54

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27 changes: 21 additions & 6 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -5,26 +5,40 @@ ENV DEBIAN_FRONTEND=noninteractive
ENV HEADLESS=false
ARG DEVELOPMENT=false

# Enable BuildKit caching for 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

# Install linux packages
RUN apt-get update && apt-get install -y \
RUN --mount=type=cache,target=/var/cache/apt \
--mount=type=cache,target=/var/lib/apt \
apt-get update && apt-get install -y --no-install-recommends \
ros-$(rosversion -d)-turtlesim \
locales \
xvfb \
python3.9 \
python3-pip
python3-pip \
libgl1-mesa-glx && \
apt-get clean && \
rm -rf /var/lib/apt/lists/*

# Install Python packages with pip caching
RUN --mount=type=cache,target=/root/.cache/pip \
python3 -m pip install -U python-dotenv catkin_tools

# RUN apt-get clean && rm -rf /var/lib/apt/lists/*
RUN python3 -m pip install -U python-dotenv catkin_tools
# Set up ROS environment
RUN rosdep update && \
echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc && \
echo "alias start='catkin build && source devel/setup.bash && roslaunch turtle_agent agent.launch'" >> /root/.bashrc && \
echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.bashrc

# Copy application code
COPY . /app/
WORKDIR /app/

# Modify the RUN command to use ARG
RUN /bin/bash -c 'if [ "$DEVELOPMENT" = "true" ]; then \
# Install application dependencies with pip caching
RUN --mount=type=cache,target=/root/.cache/pip \
/bin/bash -c 'if [ "$DEVELOPMENT" = "true" ]; then \
python3.9 -m pip install --user -e .; \
else \
python3.9 -m pip install -U jpl-rosa>=1.0.7; \
Expand All @@ -41,3 +55,4 @@ CMD ["/bin/bash", "-c", "source /opt/ros/noetic/setup.bash && \
sleep 5 && \
echo \"Run \\`start\\` to build and launch the ROSA-TurtleSim demo.\" && \
/bin/bash"]

6 changes: 4 additions & 2 deletions demo.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ fi
HEADLESS=${HEADLESS:-false}
DEVELOPMENT=${DEVELOPMENT:-false}

export DOCKER_BUILDKIT=1

# Enable X11 forwarding based on OS
case "$(uname)" in
Linux*|Darwin*)
Expand All @@ -33,7 +35,7 @@ case "$(uname)" in
if grep -q "WSL" /proc/version; then
export DISPLAY=:0
else
export DISPLAY=host.docker.internal:0
export DISPLAY=:1
fi
xhost +
;;
Expand All @@ -56,7 +58,7 @@ fi
# Build and run the Docker container
CONTAINER_NAME="rosa-turtlesim-demo"
echo "Building the $CONTAINER_NAME Docker image..."
docker build --build-arg DEVELOPMENT=$DEVELOPMENT -t $CONTAINER_NAME -f Dockerfile . || { echo "Error: Docker build failed"; exit 1; }
docker build --build-arg BUILDKIT_INLINE_CACHE=1 --build-arg DEVELOPMENT=$DEVELOPMENT -t $CONTAINER_NAME -f Dockerfile . || { echo "Error: Docker build failed"; exit 1; }

echo "Running the Docker container..."
docker run -it --rm --name $CONTAINER_NAME \
Expand Down