244 lines
No EOL
91 KiB
HTML
244 lines
No EOL
91 KiB
HTML
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/*!
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* Marp / Marpit Uncover theme
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*
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* @theme uncover
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* @author Yuki Hattori
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*
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* @auto-scaling true
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slide">Next slide</button><button data-bespoke-marp-osc="fullscreen" tabindex="-1" title="Toggle fullscreen (f)">Toggle fullscreen</button><button data-bespoke-marp-osc="presenter" tabindex="-1" title="Open presenter view (p)">Open presenter view</button></div><div id="p"><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="1" data-paginate="true" data-theme="uncover" data-marpit-pagination="1" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Nix/Nixos</h1>
|
||
<p>ОС-независимая сборка пакетов ROS</p>
|
||
<p>|</p>
|
||
<p>Брылёв Игорь<br />
|
||
robossembler.org</p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="2" data-marpit-fragments="5" data-paginate="true" data-theme="uncover" data-marpit-pagination="2" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Что же такое ROS?</h1>
|
||
|
||
<ul>
|
||
<li data-marpit-fragment="1">Стандарт</li>
|
||
<li data-marpit-fragment="2">Фреймворк</li>
|
||
<li data-marpit-fragment="3">Набор форматов</li>
|
||
<li data-marpit-fragment="4">...</li>
|
||
<li data-marpit-fragment="5">Система сборки и дистрибьюции ПО</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="3" data-marpit-fragments="4" data-paginate="true" data-theme="uncover" data-marpit-pagination="3" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h3>Проблемы пакетных менеджеров</h3>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Апгрейд конфигурации безвозвратно изменяет состояние системы</li>
|
||
<li data-marpit-fragment="2">Сборки не детерминированы</li>
|
||
<li data-marpit-fragment="3">Не поддерживаются разные версии бинарников и библиотек</li>
|
||
<li data-marpit-fragment="4">Конфликты пакетов</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="4" data-marpit-fragments="3" data-paginate="true" data-theme="uncover" data-marpit-pagination="4" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h4>Проблемы управления зависимостями в ROS</h4>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Зависимость от Ubuntu и её системных зависимостей (apt-пакеты)</li>
|
||
<li data-marpit-fragment="2">Сложность интеграции с ПО вне ROS-экосистемы</li>
|
||
<li data-marpit-fragment="3">Подготовить для удобного запуска сложный ROS-проект - трудоёмкая задача</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="5" data-marpit-fragments="2" data-paginate="true" data-theme="uncover" data-marpit-pagination="5" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Тренды</h1>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Из набора библиотек для одного робота ROS становится стандартом для роботизированных кибер-физических систем</li>
|
||
<li data-marpit-fragment="2">В робототехнику проникают инструменты из других ниш: web, машинное обучение, DevOps</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="6" data-paginate="true" data-theme="uncover" data-marpit-pagination="6" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>А как же Docker?</h1>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="7" data-paginate="true" data-theme="uncover" data-marpit-pagination="7" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<p><img src="reproducible-testing.jpg" alt="" /></p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="8" data-paginate="true" data-theme="uncover" data-marpit-pagination="8" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>"В"</h1>
|
||
<p>воспроизводимость</p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="9" data-paginate="true" data-theme="uncover" data-marpit-pagination="9" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Теория</h1>
|
||
<p>Dockerfile -> Image</p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="10" data-paginate="true" data-theme="uncover" data-marpit-pagination="10" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Реальность</h1>
|
||
<p>Dockerfile -> Image1 || Image2 ... ImageN</p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="11" data-paginate="true" data-theme="uncover" data-marpit-pagination="11" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Типичный Dockerfile для ROS</h1>
|
||
<pre is="marp-pre" data-auto-scaling="downscale-only"><code>FROM ros:foxy-ros-base-focal
|
||
...
|
||
RUN rosdep update && apt-get update
|
||
...
|
||
RUN apk add --no-cache python g++ make
|
||
...
|
||
RUN curl -sSL http://get.gazebosim.org | sh
|
||
...
|
||
CMD [ "ros2", "launch", "app", "app_bringup.launch.py" ]
|
||
</code></pre>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="12" data-paginate="true" data-theme="uncover" data-marpit-pagination="12" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Ключевая идея nix</h1>
|
||
<p>Описывать сборку в виде <em>чистой функции</em> или уравнения(derivation), результат исполнения строго детерминирован входными параметрами.</p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="13" data-paginate="true" data-theme="uncover" data-marpit-pagination="13" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<p><img src="eelco.jpeg" alt="" /><br />
|
||
Eelco Dolstra</p>
|
||
<h2>The Purely Functional Software Deployment Model</h2>
|
||
<p>PhD Thesis'2006<br />
|
||
<a href="https://edolstra.github.io/pubs/phd-thesis.pdf">https://edolstra.github.io/pubs/phd-thesis.pdf</a></p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="14" data-marpit-fragments="2" data-paginate="true" data-theme="uncover" data-marpit-pagination="14" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Парадигмы программирования</h1>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Императивная (как?) - C, C++, Java</li>
|
||
<li data-marpit-fragment="2">Декларативная (что?) - Lisp, Prolog, Nix</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="15" data-marpit-fragments="2" data-paginate="true" data-theme="uncover" data-marpit-pagination="15" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Парадигмы конфигурации</h1>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Императивная конфигурация (apt)
|
||
<ul>
|
||
<li>Изменение состояния (dependency hell, неконсистентные состояния)</li>
|
||
</ul>
|
||
</li>
|
||
<li data-marpit-fragment="2">Декларативная конфигурация (nix)
|
||
<ul>
|
||
<li>Пакеты = иммутабельные переменные (нельзя изменить напрямую, только через функцию)</li>
|
||
<li>Одно и то же nix-выражение даёт всегда один и тот же результат</li>
|
||
</ul>
|
||
</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="16" data-paginate="true" data-theme="uncover" data-marpit-pagination="16" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;"><pre is="marp-pre" data-auto-scaling="downscale-only"><code>{
|
||
pname = "hello";
|
||
version = "2.12.1";
|
||
src = fetchurl {
|
||
url = "http://github.com/hello-${version}.tar.bz2";
|
||
sha256 = "0x2g1jqy...";
|
||
};
|
||
buildInputs = [ libbar perl ncurses ];
|
||
buildPhase = ''gcc hello.c -o hello'';
|
||
installPhase = ''mkdir -p $out/bin && cp hello $out/bin'';
|
||
}
|
||
</code></pre>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="17" data-paginate="true" data-theme="uncover" data-marpit-pagination="17" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<pre is="marp-pre" data-auto-scaling="downscale-only"><code>{
|
||
"builder": "/nix/store/561wgc73s0x1250hrgp7jm22hhv7yfln-bash-5.2-p15/bin/bash",
|
||
"env": {
|
||
"builder": "/nix/store/561wgc73s0x1250hrgp7jm22hhv7yfln-bash-5.2-p15/bin/bash",
|
||
"out": "/nix/store/260q5867crm1xjs4khgqpl6vr9kywql1-hello-2.12.1",
|
||
"src": "/nix/store/pa10z4ngm0g83kx9mssrqzz30s84vq7k-hello-2.12.1.tar.gz",
|
||
"stdenv": "/nix/store/b09v23lirgvci3wzszh22mbkdfj0h0yq-stdenv-linux",
|
||
"version": "2.12.1"
|
||
},
|
||
"inputDrvs": {
|
||
"/nix/store/0hnjp6s8k71xm62157v37zg3qzwvl8lx-bash-5.2-p15.drv": [ "out" ],
|
||
"/nix/store/8n3ib41pb90nkq3vv49z520qinf4q9c0-hello-2.12.1.tar.gz.drv": [ "out" ],
|
||
"/nix/store/r2h029bx2fbyxxj84s5hf1abp2vfkah2-stdenv-linux.drv": [ "out" ]
|
||
},
|
||
"inputSrcs": [ "/nix/store/6xg259477c90a229xwmb53pdfkn6ig3g-default-builder.sh" ],
|
||
"outputs": {
|
||
"out": { "path": "/nix/store/260q5867crm1xjs4khgqpl6vr9kywql1-hello-2.12.1" }
|
||
},
|
||
"system": "x86_64-linux"
|
||
}
|
||
}
|
||
</code></pre>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="18" data-paginate="true" data-theme="uncover" data-marpit-pagination="18" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;"><pre is="marp-pre" data-auto-scaling="downscale-only"><code>$ ls /nix/store/ | grep humble
|
||
00z4hg8q0cxhsl5jq4s7iq81zz54j8vy-ros-humble-ament-lint-common-0.12.5-r1
|
||
01nvrmwbf0zbchb3d25kb49rl8jzspv6-ros-humble-ament-cmake-cppcheck-0.12.5-r1
|
||
02gdrzn2yrngmqih4hq0j17vj2hgiiz3-ros-humble-unique-identifier-msgs-2.2.1-r3
|
||
08s5gvg7gaypllyxvzd17w21ijqx3hgd-ros-humble-tf2-msgs-0.25.2-r1
|
||
0hwva9zk3250hd6spwq11ayk0aq4flnm-ros-humble-control-msgs-4.1.0-r1
|
||
</code></pre>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="19" data-paginate="true" data-theme="uncover" data-marpit-pagination="19" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<p><img src="drv-cryptohash.png" alt="" style="width:900px;" /></p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="20" data-marpit-fragments="5" data-paginate="true" data-theme="uncover" data-marpit-pagination="20" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Что это даёт для ROS?</h1>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Возможность запустить проект ROS на любой ОС, даже без apt</li>
|
||
<li data-marpit-fragment="2">Контролируемое управление зависимостями</li>
|
||
<li data-marpit-fragment="3">Возможность использования разных версий одних и тех же пакетов и библиотек</li>
|
||
<li data-marpit-fragment="4">Детерминированные сборки одной командой</li>
|
||
<li data-marpit-fragment="5">CACHE!!!</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="21" data-marpit-fragments="4" data-paginate="true" data-theme="uncover" data-marpit-pagination="21" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Основные компоненты nix</h1>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Nix (менеджер пакетов и язык программирования)</li>
|
||
<li data-marpit-fragment="2">Nixpkgs (репозиторий пакетов и стандартная библиотека)</li>
|
||
<li data-marpit-fragment="3">NixOS (операционная система)</li>
|
||
<li data-marpit-fragment="4">NixOps (DevOps инструмент)</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="22" data-paginate="true" data-theme="uncover" data-marpit-pagination="22" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<p><img src="map_repo_size_fresh-2018-06-08.svg" alt="" style="width:1000px;" /></p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="23" data-paginate="true" data-theme="uncover" data-marpit-pagination="23" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h2>Nix ROS Overlay</h2>
|
||
<p><a href="https://github.com/lopsided98/nix-ros-overlay">https://github.com/lopsided98/nix-ros-overlay</a></p>
|
||
<p>Автоматическая генерация nix-выражений для сборки пакетов ROS из официальных репозиториев (github:ros/rosdistro).</p>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="24" data-paginate="true" data-theme="uncover" data-marpit-pagination="24" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<pre is="marp-pre" data-auto-scaling="downscale-only"><code>{ lib, buildRosPackage, fetchurl, ament-cmake ... }:
|
||
buildRosPackage {
|
||
pname = "ros-rolling-std-msgs";
|
||
version = "4.6.1-r1";
|
||
src = fetchurl {
|
||
url = "https://github.com/ros2-gbp/common_interfaces/std_msgs/4.6.1-1.tar.gz";
|
||
name = "4.6.1-1.tar.gz";
|
||
sha256 = "87eee895c2c60a8335ae2a63b05f99773f0897e451e5bf7f45a14a6c36295640";
|
||
};
|
||
|
||
buildType = "ament_cmake";
|
||
buildInputs = [ ament-cmake rosidl-default-generators ];
|
||
checkInputs = [ ament-lint-common ];
|
||
propagatedBuildInputs = [ builtin-interfaces rosidl-default-runtime ];
|
||
nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
|
||
|
||
meta = {
|
||
description = ''A package containing some standard message definitions.'';
|
||
license = with lib.licenses; [ asl20 ];
|
||
};
|
||
}
|
||
</code></pre>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="25" data-marpit-fragments="4" data-paginate="true" data-theme="uncover" data-marpit-pagination="25" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Недостатки</h1>
|
||
<ul>
|
||
<li data-marpit-fragment="1">Пологая кривая обучения</li>
|
||
<li data-marpit-fragment="2">Некоторая разрозненность документации</li>
|
||
<li data-marpit-fragment="3">Не все пакеты ROS адаптированы в nix</li>
|
||
<li data-marpit-fragment="4">Необходимость сборки мусора</li>
|
||
</ul>
|
||
</section>
|
||
</foreignObject></svg><svg data-marpit-svg="" viewBox="0 0 1280 720"><foreignObject width="1280" height="720"><section id="26" data-paginate="true" data-theme="uncover" data-marpit-pagination="26" data-marpit-pagination-total="26" style="--paginate:true;--theme:uncover;">
|
||
<h1>Полезные ресурсы</h1>
|
||
<p><img src="nix-snowflake.svg" alt="" style="width:200px;" /><br />
|
||
Русскоязычное сообщество Telegram<br />
|
||
@ru_nixos</p>
|
||
<p>Туториал для новичков<br />
|
||
zero-to-nix.com</p>
|
||
</section>
|
||
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</script></foreignObject></svg></div><div class="bespoke-marp-note" data-index="0" tabindex="0"><p>Чтобы сгенерировать из этого файла презентацию в pdf, html или pptx, нужно воспользоваться утилитой Marp https://marp.app/ или одноимённым расширением VSCode https://marketplace.visualstudio.com/items?itemName=marp-team.marp-vscode.</p></div><div class="bespoke-marp-note" data-index="1" tabindex="0"><p>В сообществе часто спорят по поводу того чем является или не является ROS. ROS звучит буквально как операционная система для роботов, однако де-факто операционной системой не является. Как правило, все сходятся на том, что ROS включает в себя много разных сущностей - это и стандарт, и фреймворк, и формат взаимодействия приложений, и непосредственно программное обеспечение - стандартная библиотека, если хотите. Но конкретно в этом докладе я бы хотел поговорить о ROS в немного другом свете - как о системе сборки и дистрибьюции программного обеспечения, что тоже имеет место быть. Причём этот аспект я считаю весьма важным, потому что почти любое ROS-приложение в среднем на 95% состоит из подгруженного из пакетных репозиториев кода, из которых на долю ROS-экосистемы приходится меньшая часть.</p></div><div class="bespoke-marp-note" data-index="2" tabindex="0"><p>Итак метод сборки и дострибьюции пакетов в ROS в значительной опирается на пакетных менеджер apt и пакетные базы debian/ubuntu (по статистике ros index 2100 пакетов представляют собой системные зависимости, предоставляемые операционной системой), а следовательно зависит от них. Многие пакеты ROS-экосистемы представляют в качестве рекомендуемого способа установки именно установку из своих репозиториев собранных заранее бинарных пакетов. Компиляция проектов их исходников редко практикуется и достаточно сложна. В целом, apt свойственны следующие проблемы.</p></div><div class="bespoke-marp-note" data-index="5" tabindex="0"><p>Когда рассказываешь про nix часто у инженеров возникает прочная ассциация с Docker. А не решает ли Docker ту же самую проблему? Да, действительно, эти инструменты решают одну и ту же проблему, которую можно было бы кратко сформулировать так</p></div><div class="bespoke-marp-note" data-index="6" tabindex="0"><p>С проблемой сталкиваются нууууу почти все - от первой линии службы технической поддержки до программистов. Это проблема состояния окружения - если ваша программа или приложение в какой-то степени опирается на него, то неизбежно будут возникать проблемы с его корректной работы на компьютерах с другим окружением.</p></div><div class="bespoke-marp-note" data-index="7" tabindex="0"><p>Как добиться того, чтобы программа запущенная успешно на одном компьютере, была также успешно запущена на другом? Современные проекты представляют собой зачастую сложную комбинацию инструментов, библиотек и обеспечить воспроизводимость в этих условиях непросто. Классическое управление зависимостями в Linux-системах не позволяло добиться хорошей воспроизводимости. Docker появился во многом в ответ на эту проблему плохого управления зависимостями в операционной системе. Как это решил Docker?</p></div><div class="bespoke-marp-note" data-index="8" tabindex="0"><p>Как мы знаем, Docker создаёт своеобразную песочницу вокруг вашего приложения и вы передаёте его вместе с ней, чтобы состояние машины пользователя не влияло на работоспособность. Идеальная картика выглядит так: на входе Dockerfile, на выходе Образ. Вроде всё круто</p></div><div class="bespoke-marp-note" data-index="9" tabindex="0"><p>Но де-факто с одним и тем же докерфайлом вы можете получить кучу разных образов. Почему так происходит?</p></div><div class="bespoke-marp-note" data-index="10" tabindex="0"><p>Если посмотреть вглубь, то можно обнаружить, что в типичном Docker-файле для ROS есть сразу несколько мест, которые сделают вашу сборку невоспроизводимой на другом компьютере:
|
||
1. hub.docker.com
|
||
2. apt-репозиторий
|
||
3. rosdep-репозиторий
|
||
3. файл, взятый по имени
|
||
|
||
Но есть другие недостатки:
|
||
1. Возможность комбинировать зависимости (docker позволяет создавать контейнеры только наследуя от одного базового - нельзя добавить несколько базовых контейнеров)
|
||
2. Необходимость тянуть с собой все зависимости, даже если они представлены в системе</p></div><div class="bespoke-marp-note" data-index="11" tabindex="0"><p># Что предлагает Nix?</p></div><div class="bespoke-marp-note" data-index="12" tabindex="0"><p>Именно эта идея и легла в основу диссертации автора nix под названием ___, где как раз и описывались недостатки классической системы использования динамических библиотек в unix-подобных системах. Данный подход получил название декларативным в противовес императивного.</p></div><div class="bespoke-marp-note" data-index="14" tabindex="0"><p>nix использует функциональный язык программирования для описания процесса сборки. Тут можно сделать некоторое отступление о том, что ROS создан робототехниками для робототехников, а у них по прежнему был и остаётся доминирующим императивный подход к программированию, что обусловлено высокими требованиями к производительности и реальному времени исполнения. Собственно, императивная парадигма распространилась не только на сферу низкоуровневых программ, но и на управление операционной системой. Однако, сфера сборки ПО не требует гарантий реального времени или высокой производительности, в ней куда важнее как раз воспроизводимость, отсутствие неявных обращений к состоянию системы.</p></div><div class="bespoke-marp-note" data-index="15" tabindex="0"><p>как выглядит типичное Nix-выражение. Это уравнение превращается в такой json-образный файл, где и прописаны все версии с хэшами конкретных зависимостей. Этот файл и является по сути инструкцией или чистой функцией, на выходе которой мы получаем конкретные артефакты в виде пакетов, бинарников, динамических библиотек и т.п.</p></div><div class="bespoke-marp-note" data-index="17" tabindex="0"><p>А вот как это выглядит на диске. Заметьте, имя каждого пакета снабжается хэшом, который позволяет избежать коллизий при совпадении имён и даже совпадении имён и версий, а ещё даёт использовать несколько версий библиотеки одновременно. Откуда берётся этот хэш?</p></div><div class="bespoke-marp-note" data-index="18" tabindex="0"><p>Собственно этот хэш и получается с помощью криптографической хэш-функции применённой ко всем входным зависимостям</p></div><div class="bespoke-marp-note" data-index="19" tabindex="0"><p>Вы не полагаетесь на apt, можете при желании собрать систему полностью из исходников.</p></div><div class="bespoke-marp-note" data-index="20" tabindex="0"><p></p></div><div class="bespoke-marp-note" data-index="21" tabindex="0"><p># Текущее состояние nixpkgs</p></div><script>/*!! License: https://unpkg.com/@marp-team/marp-cli@2.3.0/lib/bespoke.js.LICENSE.txt */
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