EricX-Zhao
e276ce3a64
Add ROS_ROOT argument to compose.yaml, update toolchain CMake to search in ROS_ROOT, and modify final stage of Dockerfiles to copy to ROS_ROOT instead of TARGET_SYSROOT. Also add support for ROS2 lyrical distro.
45 lines
1.2 KiB
YAML
45 lines
1.2 KiB
YAML
#
|
|
|
|
services:
|
|
# 第一步：编译基础镜像
|
|
cc-base:
|
|
build:
|
|
context: .
|
|
dockerfile: cc_base.Dockerfile
|
|
image: cc-base:latest
|
|
|
|
# 第二步：编译针对 RK3588 的镜像
|
|
cc-toolchain:
|
|
build:
|
|
context: . # 上下文设为根目录，这样才能同时访问 rk3588 文件夹
|
|
dockerfile: ${PLATFORM}/cc_${PLATFORM}.Dockerfile
|
|
image: ${PLATFORM}/cc-toolchain:latest
|
|
depends_on:
|
|
- cc-base
|
|
|
|
# 第三步：编译最终的供应商包镜像
|
|
vendor-packages:
|
|
build:
|
|
context: .
|
|
dockerfile: vendor_packages/vendor_packages.Dockerfile
|
|
args:
|
|
CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
|
|
image: ${PLATFORM}/cc-vendor-packages:latest
|
|
depends_on:
|
|
- cc-toolchain
|
|
|
|
ros2:
|
|
build:
|
|
context: .
|
|
dockerfile: ros2/${ROS_DISTRO}/ros_${ROS_DISTRO}.Dockerfile
|
|
# target: ros_builder
|
|
args:
|
|
ROS_DISTRO: ${ROS_DISTRO}
|
|
PLATFORM: ${PLATFORM}
|
|
ROS_ROOT: /opt/ros/${ROS_DISTRO}
|
|
CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
|
|
VENDOR_PACKAGES_IMAGE: ${PLATFORM}/cc-vendor-packages:latest
|
|
image: ${PLATFORM}/cc-ros-${ROS_DISTRO}:latest
|
|
depends_on:
|
|
- vendor-packages
|