robossembler/runtime
7
0
Fork 0
Code Issues 5 Pull requests Projects Releases Packages Wiki Activity Actions

optimize dockerfile for different configs

Browse source
This commit is contained in:
Ilya Uraev 2023-12-22 13:52:31 +03:00
parent b4f859b7b4
commit 9a00883fbd
2 changed files with 3 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

11
Dockerfile
View file

@ -1,6 +1,7 @@
FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia
ARG WSDIR=rbs_ws ARG WSDIR=rbs_ws
ARG config_type=sim
ENV RBS_ASSEMBLY_DIR=/assembly ENV RBS_ASSEMBLY_DIR=/assembly
@ -35,17 +36,11 @@ RUN git clone https://github.com/thodan/bop_toolkit &&\
pip install -e . pip install -e .
WORKDIR /${WSDIR} WORKDIR /${WSDIR}
#Install Gazebo Fortres
# RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
# "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
# apt-get update &&\
# apt-get install -y ignition-fortress
# Install RBS
COPY . src/robossembler-ros2/ COPY . src/robossembler-ros2/
RUN vcs import src/. < src/robossembler-ros2/rbs.repos RUN vcs import src/. < src/robossembler-ros2/rbs.${config_type}.repos
RUN apt update && rosdep update && \ RUN apt update && rosdep update && \
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
RUN . /opt/ros/humble/setup.sh && \ RUN . /opt/ros/humble/setup.sh && \
colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1

0
rbs.repos → rbs.sim.repos
View file