add ros_cpp

cross_compile/ros2/Dockerfile.ros_rolling

@@ -1,8 +1,7 @@
 ARG CC_PLATFORM_IMAGE
-ARG VENDOR_PACKAGES
-ARG PLATFORM
+ARG VENDOR_PACKAGES_IMAGE
 
-FROM ${CC_PLATFORM_IMAGE} as ros_src
+FROM ${CC_PLATFORM_IMAGE} AS ros_src
 
 ARG ROS_DISTRO
 
@@ -12,9 +11,28 @@ COPY ros2/ros_rolling.repos .
 RUN vcs import --input ros_${ROS_DISTRO}.repos src
 RUN echo "Build ros ${ROS_DISTRO}"
 
-FROM vendor-packages:${PLATFORM} AS vendor_images
+FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
 
-FROM ${CC_PLATFORM_IMAGE} as ros_builder
+FROM ${CC_PLATFORM_IMAGE} AS ros_builder
 
 COPY --from=ros_src /workspace /workspace
 COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
+
+RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
+    && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE
+
+RUN MAKEFLAGS="-j6" colcon build \
+    --executor parallel \
+    --parallel-workers 6 \
+    --install-base ${TARGET_SYSROOT} \
+    --merge-install \
+    --packages-up-to ros_cpp \
+    --cmake-force-configure \
+    --cmake-args \
+    --no-warn-unused-cli \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DBUILD_TESTING=OFF \
+    -DTRACETOOLS_DISABLED=ON \
+    -DCV_BRIDGE_DISABLE_PYTHON=ON