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Dockerfile
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FROM ubuntu:22.04 AS ddsrouter_builder
ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y \
python3 \
cmake g++ pip wget git \
libasio-dev \
libtinyxml2-dev \
libssl-dev \
python3-sphinx \
libyaml-cpp-dev
RUN pip3 install -U \
colcon-common-extensions \
vcstool \
pyyaml \
sphinx_rtd_theme \
jsonschema
RUN mkdir -p /dds_router/src
WORKDIR /dds_router
COPY ddsrouter.repos colcon.meta /dds_router/
RUN vcs import src < ddsrouter.repos && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
rm -rf build log src
FROM ubuntu:22.04
ARG TARGETARCH
ARG YQ_VERSION=v4.35.1
ARG GOMPLATE_VERSION=v3.11.6
RUN apt-get update && apt-get install -y \
gosu \
curl \
libyaml-cpp-dev \
iputils-ping \
libtinyxml2-dev \
python3 \
iproute2 && \
apt-get autoremove -y && \
rm -rf /var/lib/apt/lists/*
RUN curl -L https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_linux_${TARGETARCH} -o /usr/bin/yq && \
chmod +x /usr/bin/yq
RUN curl -L https://github.com/hairyhenderson/gomplate/releases/download/${GOMPLATE_VERSION}/gomplate_linux-${TARGETARCH} -o /usr/bin/gomplate && \
chmod +x /usr/bin/gomplate
COPY --from=ddsrouter_builder /dds_router /dds_router
COPY entrypoint.sh /
COPY run_auto_config.sh /
COPY participant.husarnet.ds.yaml /
COPY participant.husarnet.wan.yaml /
COPY participant.lan.yaml /
COPY participant.shm.yaml /
COPY participant.lo.yaml /
COPY participant.if.yaml /
COPY participant.echo.yaml /
COPY filter.yaml /
COPY config.base.yaml /
COPY config_daemon.sh /
COPY superclient.template.xml /
ENV PARTICIPANTS=husarnet,shm,lo
ENV HUSARNET_API_HOST=127.0.0.1
ENV ROS_DISCOVERY_SERVER=
ENV DISCOVERY_SERVER_ID=-1
ENV EXIT_IF_HOST_TABLE_CHANGED=FALSE
ENV ROS_DOMAIN_ID=
ENV ROS_NAMESPACE=
ENV FILTER=
ENV CONFIG_BASE=
ENV USER=root
ENTRYPOINT [ "/entrypoint.sh" ]
CMD [ "ddsrouter", "-c", "/var/tmp/DDS_ROUTER_CONFIGURATION.yaml" ]