From 62902ee5d09288c9fe88fa0648b8cf437769ea8a Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Fri, 13 Sep 2019 15:33:26 -0700
Subject: [PATCH] Include navigation2 in source build
---
Dockerfile.full_ros_build | 50 ++++++++++++++++++++++++++++++++-------
1 file changed, 41 insertions(+), 9 deletions(-)
diff --git a/Dockerfile.full_ros_build b/Dockerfile.full_ros_build
index ca70088c..315808ee 100644
--- a/Dockerfile.full_ros_build
+++ b/Dockerfile.full_ros_build
@@ -1,3 +1,16 @@
+# This dockerfile expects to be contained in the /navigation2 root folder for file copy
+#
+# Example build command:
+# This determines which version of the ROS2 code base to pull
+# export ROS2_BRANCH=master
+# docker build -t nav2:full_ros_build
+# -f Dockerfile.full_ros_build ./
+#
+# We're only building on top of a ros2 devel image to get the basics
+# prerequisites installed such as the apt source, rosdep, etc. We don't want to
+# actually use any of the ros dashing packages. Instead we are going to build
+# everything from source in one big workspace.
+
ARG FROM_IMAGE=osrf/ros2:devel
FROM $FROM_IMAGE
@@ -8,17 +21,33 @@ RUN apt-get update && apt-get install -q -y \
wget \
&& rm -rf /var/lib/apt/lists/*
-ARG ROS_DISTRO=dashing
-ENV ROS_DISTRO=$ROS_DISTRO
+ARG ROS2_BRANCH=master
+ENV ROS2_BRANCH=$ROS2_BRANCH
ENV ROS_VERSION=2 \
ROS_PYTHON_VERSION=3
WORKDIR $ROS2_WS
-RUN wget https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO-release/ros2.repos \
+RUN wget https://raw.githubusercontent.com/ros2/ros2/$ROS2_BRANCH/ros2.repos \
&& vcs import src < ros2.repos
-# install dependencies
+# install ros2 dependencies
+RUN apt-get update && rosdep install -y \
+ --from-paths src \
+ --ignore-src \
+ --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers" \
+ && rm -rf /var/lib/apt/lists/*
+
+# copy nav2 source code
+ENV NAV2_DIR $ROS2_WS/src/navigation2
+COPY ./ src/navigation2/
+
+# clone dependency package repos
+ENV NAV2_DEPS_DIR $ROS2_WS/src/navigation2_dependencies
+RUN mkdir -p $NAV2_DEPS_DIR
+RUN vcs import src < $NAV2_DIR/tools/ros2_dependencies.repos
+
+# install nav2 dependencies
RUN apt-get update && rosdep install -y \
--from-paths src \
--ignore-src \
@@ -26,11 +55,14 @@ RUN apt-get update && rosdep install -y \
&& rm -rf /var/lib/apt/lists/*
# build source
-RUN colcon \
- build \
- --symlink-install \
- --mixin build-testing-on release \
- --cmake-args --no-warn-unused-cli
+ARG MIXINS="build-testing-on release"
+RUN colcon build \
+ --symlink-install \
+ --mixin \
+ $MIXINS \
+ --packages-up-to \
+ nav2_system_tests \
+ --cmake-args --no-warn-unused-cli
ARG RUN_TESTS
ARG FAIL_ON_TEST_FAILURE
--
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