Skip to content

Update Dockerfile example with minimal runner multistage #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
ruffsl wants to merge 5 commits into
base: master
Choose a base branch
from
Draft

Update Dockerfile example with minimal runner multistage #1

Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
426bbf9
Update Dockerfile example with runner stage
ruffsl Jun 25, 2021
71df883
Stage temp hack for demo
ruffsl Jun 25, 2021
0a6663b
Revert "Stage temp hack for demo"
ruffsl Apr 11, 2023
cad80f9
Update tag to current LTS
ruffsl Apr 11, 2023
9f09d02
Run rosdep update before install
ruffsl Apr 11, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 19 additions & 4 deletions ros/content.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ The Robot Operating System (ROS) is a set of software libraries and tools that h
To create your own ROS docker images and install custom packages, here's a simple example of installing the C++, Python client library demos using the official released Debian packages via apt-get.

```dockerfile
FROM %%IMAGE%%:foxy
FROM %%IMAGE%%:humble

# install ros package
RUN apt-get update && apt-get install -y \
Expand Down Expand Up @@ -44,7 +44,7 @@ $ docker run -it --rm my/ros:app
To create your own ROS docker images and build custom packages, here's a simple example of installing a package's build dependencies, compiling it from source, and installing the resulting build artifacts into a final multi-stage image layer.

```dockerfile
ARG FROM_IMAGE=%%IMAGE%%:foxy
ARG FROM_IMAGE=%%IMAGE%%:humble
ARG OVERLAY_WS=/opt/ros/overlay_ws

# multi-stage for caching
Expand Down Expand Up @@ -73,12 +73,13 @@ RUN mkdir -p /tmp/opt && \
# multi-stage for building
FROM $FROM_IMAGE AS builder

# install overlay dependencies
# install overlay build dependencies
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
apt-get update && rosdep install -y \
apt-get update && rosdep update && \
rosdep install -y \
--from-paths \
src/ros2/demos/demo_nodes_cpp \
src/ros2/demos/demo_nodes_py \
Expand All @@ -95,6 +96,20 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
demo_nodes_py \
--mixin $OVERLAY_MIXINS

# multi-stage for running
FROM $FROM_IMAGE AS runner

# install overlay exec dependencies
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=builder $OVERLAY_WS/install ./install
RUN . $OVERLAY_WS/install/setup.sh && \
apt-get update && rosdep update && \
rosdep install -y \
--from-paths install \
--dependency-types exec \
&& rm -rf /var/lib/apt/lists/*

# source entrypoint setup
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place --expression \
Expand Down