Stage from osrf/ros2:source Dockerfile

Dockerfile.full_ros_build

-# This dockerfile expects proxies to be set via --build-arg if needed
-# It also expects to be contained in the /navigation2 root folder for file copy
-#
-# Example build command:
-# export CMAKE_BUILD_TYPE=Debug
-#
-# This determines which version of the ROS2 code base to pull
-# export ROS2_BRANCH=master
-#
-# This determines which ros2 docker image to use as a base for getting ros2_dependencies
-# The latest (osrf/ros2:nightly) is usually the best choice unless a dependency
-# has been removed that an older codebase depends on. In those cases, using
-# ros:DISTRO-ros-core would be a good choice where distro is crystal, dashing, etc.
-# export ROS2_DOCKER_IMAGE=osrf/ros2:nightly
-# docker build -t nav2:full_ros_build
-#   --build-arg CMAKE_BUILD_TYPE \
-#   -f Dockerfile.full_ros_build ./
-
-# We're only building on top of a ROS docker 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:nightly
+ARG FROM_IMAGE=osrf/ros2:devel
 FROM $FROM_IMAGE
 
-# install ROS2 dependencies
+# install packages
 RUN apt-get update && apt-get install -q -y \
-      wget \
-      libasio-dev \
+    libasio-dev \
+    libtinyxml2-dev \
+    wget \
     && rm -rf /var/lib/apt/lists/*
 
-# setup directory structure
-ENV ROS2_WS /opt/ros2_ws
-RUN mkdir -p $ROS2_WS/src
-WORKDIR $ROS2_WS
-
-# clone ROS 2 packages
+ARG ROS_DISTRO=dashing
+ENV ROS_DISTRO=$ROS_DISTRO
+ENV ROS_VERSION=2 \
+    ROS_PYTHON_VERSION=3
 
-ARG ROS2_BRANCH=master
-RUN wget https://raw.githubusercontent.com/ros2/ros2/$ROS2_BRANCH/ros2.repos
-RUN vcs import src < ros2.repos
-
-# copy nav 2 source code
-ENV NAV2_DIR $ROS2_WS/src/navigation2
-COPY ./ src/navigation2/
+WORKDIR $ROS2_WS
 
-# clone dependency package repos
-ENV NAV2_DEPS_DIR $ROS2_WS/src/navigation2_dependencies
-RUN mkdir -p $NAV2_DEPS_DIR
-RUN vcs import src < $NAV2_DIR/tools/ros2_dependencies.repos
+RUN wget https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO-release/ros2.repos \
+    && vcs import src < ros2.repos
 
-# install package dependencies
-RUN apt-get update && \
-    rosdep install -q -y \
-      --from-paths \
-        $ROS2_WS/src \
-        src \
-      --ignore-src --skip-keys rti-connext-dds-5.3.1 \
+# install 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/*
 
-# build entire workspace
-ARG CMAKE_BUILD_TYPE=Debug
-RUN colcon build \
-      --symlink-install \
-      --cmake-args \
-        -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+# build source
+RUN colcon \
+    build \
+    --symlink-install \
+    --mixin build-testing-on release \
+    --cmake-args --no-warn-unused-cli
+
+ARG RUN_TESTS
+ARG FAIL_ON_TEST_FAILURE
+RUN if [ ! -z "$RUN_TESTS" ]; then \
+        colcon test; \
+        if [ ! -z "$FAIL_ON_TEST_FAILURE" ]; then \
+            colcon test-result; \
+        else \
+            colcon test-result || true; \
+        fi \
+    fi