ROS2 for Docker

• demos

  3 463 7.5 C++
  

ARG FROM_IMAGE=ros:foxy ARG OVERLAY_WS=/opt/ros/overlay_ws # multi-stage for caching FROM $FROM_IMAGE AS cacher # clone overlay source ARG OVERLAY_WS WORKDIR $OVERLAY_WS/src RUN echo "\ repositories: \n\ ros2/demos: \n\ type: git \n\ url: https://github.com/ros2/demos.git \n\ version: ${ROS_DISTRO} \n\ " > ../overlay.repos RUN vcs import ./ < ../overlay.repos # copy manifests for caching WORKDIR /opt RUN mkdir -p /tmp/opt && \ find ./ -name "package.xml" | \ xargs cp --parents -t /tmp/opt && \ find ./ -name "COLCON_IGNORE" | \ xargs cp --parents -t /tmp/opt || true # multi-stage for building FROM $FROM_IMAGE AS builder # install overlay 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 \ --from-paths \ src/ros2/demos/demo_nodes_cpp \ src/ros2/demos/demo_nodes_py \ --ignore-src \ && rm -rf /var/lib/apt/lists/* # build overlay source COPY --from=cacher $OVERLAY_WS/src ./src ARG OVERLAY_MIXINS="release" RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ colcon build \ --packages-select \ demo_nodes_cpp \ demo_nodes_py \ --mixin $OVERLAY_MIXINS # source entrypoint setup ENV OVERLAY_WS $OVERLAY_WS RUN sed --in-place --expression \ '$isource "$OVERLAY_WS/install/setup.bash"' \ /ros_entrypoint.sh # run launch file CMD ["ros2", "launch", "demo_nodes_cpp", "talker_listener.launch.py"]

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