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add build workspace script for multi platform image
DCO 1.1 Signed-off-by: Tatsuya Ishihara <[email protected]>
1 parent 241c003 commit 3742edc

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-41
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‎build-workspace.sh

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#!/bin/bash
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# Copyright (c) 2024 Carnegie Mellon University, IBM Corporation, and others
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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## termination hook
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trap ctrl_c INT QUIT TERM
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function ctrl_c() {
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exit
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}
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source ./cabot-common/build-utils.sh
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function help {
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echo "Usage: $0 [<option>] [<targets>]"
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echo ""
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echo "-h show this help"
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echo "-d debug build"
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echo "Available services:"
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show_available_services dcfiles
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}
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debug_build=0
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dcfiles=("docker-compose.yaml")
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while getopts "hd" arg; do
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case $arg in
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h)
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help
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exit
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;;
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d)
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debug_build=1
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;;
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esac
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done
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shift $((OPTIND-1))
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targets=$@
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scriptdir=$(dirname $0)
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cd $scriptdir
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scriptdir=$(pwd)
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build_workspace dcfiles targets debug_build
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if [ $? != 0 ]; then exit 1; fi

‎docker-compose-bag.yaml

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# SOFTWARE.
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services:
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# build
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bag:
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extends:
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file: docker-compose-common.yaml
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service: bag-dev
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volumes:
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- ./docker/home:/home/developer/
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profiles:
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- build
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# dev
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bag-dev:
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extends:

‎docker-compose-gnss.yaml

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# SOFTWARE.
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services:
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# build
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rtk_gnss:
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extends:
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file: docker-compose-common.yaml
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service: rtk_gnss-dev
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profiles:
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- build
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# dev
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rtk_gnss-dev:
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extends:

‎docker-compose-mapping-gazebo.yaml

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services:
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mapping:
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build:
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context: ./cabot-navigation/docker/localization
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extends:
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file: cabot-navigation/docker-compose-common.yaml
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service: localization-base
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environment:
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- DISPLAY
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- XAUTHORITY=/tmp/.docker.xauth
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# home
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- ./docker/home:/home/developer
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# code
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- ./cabot-navigation/cabot_site_pkg/${CABOT_SITE}:/home/developer/mapping_ws/install/${CABOT_SITE}
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- ./cabot-navigation/cabot_sites:/home/developer/mapping_ws/src/cabot_sites
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- ./cabot-drivers/cabot_serial:/home/developer/mapping_ws/src/cabot_serial
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- ./cabot-navigation/cabot_mf_localization:/home/developer/mapping_ws/src/cabot_mf_localization
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- ./cabot-navigation/mf_localization:/home/developer/mapping_ws/src/mf_localization

‎docker-compose-mapping.yaml

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services:
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mapping:
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build:
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context: ./cabot-navigation/docker/localization
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extends:
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file: cabot-navigation/docker-compose-common.yaml
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service: localization-base
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environment:
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- DISPLAY
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- XAUTHORITY=/tmp/.docker.xauth
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# home
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- ./docker/home:/home/developer
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# code
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- ./cabot_site_pkg/${CABOT_SITE}:/home/developer/mapping_ws/install/${CABOT_SITE}
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- ./cabot_sites:/home/developer/mapping_ws/src/cabot_sites
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- ./cabot-common/cabot_common:/home/developer/mapping_ws/src/cabot_common # log_redirector
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- ./cabot-common/cabot_msgs:/home/developer/mapping_ws/src/cabot_msgs # cabot_common dependency
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- ./cabot-description/cabot_description:/home/developer/mapping_ws/src/cabot_description # robot model
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command: /launch.sh mapping -C -X
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diagnostic:
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build:
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context: ./cabot-navigation/docker/ros2
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extends:
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file: cabot-navigation/docker-compose-common.yaml
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service: ros2-base
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environment:
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- DISPLAY
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- XAUTHORITY=/tmp/.docker.xauth

‎docker-compose-nuc.yaml

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# services extend from docker-compose-common.yaml
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services:
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# build
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people-nuc:
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extends:
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file: docker-compose-common.yaml
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service: people-nuc-dev
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profiles:
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- build
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# dev
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navigation-dev:
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extends:

‎docker-compose-production.yaml

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# services environments are overrideed
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services:
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# build
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driver:
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extends:
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file: docker-compose-common.yaml
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service: driver-dev
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profiles:
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- build
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# dev
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navigation-dev:
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extends:

‎docker-compose.yaml

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profiles:
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- build
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people-nuc:
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extends:
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file: docker-compose-common.yaml
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service: people-nuc-dev
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profiles:
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- build
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bag:
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extends:
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file: docker-compose-common.yaml
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service: bag-dev
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volumes:
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- ./docker/home:/home/developer/
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profiles:
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- build
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driver:
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extends:
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file: docker-compose-common.yaml
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service: driver-dev
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profiles:
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- build
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mapping:
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extends:
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file: docker-compose-mapping.yaml
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service: mapping
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profiles:
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- build
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# dev
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navigation-dev:
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extends:

‎docker/home/mapping_ws/.gitignore

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*
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# Except this file
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!.gitignore
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!src
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!src
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!install

‎docker/home/mapping_ws/install/.gitignore

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# Ignore everything in this directory
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*
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# Except this file
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!.gitignore

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