EricX-Zhao
ec215fc2ab
- Created ros_jazzy.repos for ROS 2 Jazzy with necessary repositories. - Added ros_rolling.Dockerfile for building ROS 2 Rolling with a multi-stage build process. - Introduced ros_rolling.repos for ROS 2 Rolling with updated repository versions. - Updated CMakeLists.txt in ceres_vendor to use version 2.1.0 and modified build options. - Adjusted package.xml in ceres_vendor to comment out unnecessary dependencies. - Created vendor_packages.Dockerfile to build various vendor packages including Ceres, OpenCV, and PCL with optimizations for cross-compilation.
154 lines
4.7 KiB
Docker
154 lines
4.7 KiB
Docker
ARG CC_PLATFORM_IMAGE
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FROM ${CC_PLATFORM_IMAGE} AS system_packages
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COPY vendor_packages workspace/src/
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to system_vendor_packages \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DBUILD_TESTING=OFF \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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FROM ${CC_PLATFORM_IMAGE} AS ceres_vendor
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COPY vendor_packages/eigen3_vendor workspace/src/eigen3_vendor
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# COPY vendor_packages/gflags_vendor workspace/src/gflags_vendor
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# COPY vendor_packages/glog_vendor workspace/src/glog_vendor
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# COPY vendor_packages/openblas_vendor workspace/src/openblas_vendor
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# COPY vendor_packages/suitesparse_vendor workspace/src/suitesparse_vendor
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COPY vendor_packages/ceres_vendor workspace/src/ceres_vendor
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to ceres_vendor \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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FROM ${CC_PLATFORM_IMAGE} AS opencv_vendor
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COPY vendor_packages/opencv_vendor workspace/src/opencv_vendor
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to opencv_vendor \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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FROM ${CC_PLATFORM_IMAGE} AS boost
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WORKDIR /tmp
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RUN wget https://archives.boost.io/release/1.83.0/source/boost_1_83_0.tar.gz
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RUN tar -zxf boost_1_83_0.tar.gz \
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&& cd boost_1_83_0 \
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&& ./bootstrap.sh --prefix=${TARGET_SYSROOT} --without-libraries=python \
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&& sed -i "/using gcc/c using gcc : arm64 : aarch64-none-linux-gnu-gcc ;" project-config.jam \
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&& ./b2 cxxflags="-fPIC" cflags="-fPIC" link=static install
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FROM ${CC_PLATFORM_IMAGE} AS pcl_vendor
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COPY vendor_packages/eigen3_vendor workspace/src/eigen3_vendor
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COPY vendor_packages/liblz4_vendor workspace/src/liblz4_vendor
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COPY vendor_packages/flann_vendor workspace/src/flann_vendor
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COPY vendor_packages/pcl_vendor workspace/src/pcl_vendor
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COPY --from=boost ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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RUN cd workspace \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to pcl_vendor \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE}
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# OpenSSL
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FROM ${CC_PLATFORM_IMAGE} AS ssl_builder
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WORKDIR /tmp
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RUN git clone --depth=1 https://github.com/janbar/openssl-cmake.git \
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&& cd openssl-cmake \
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&& mkdir build \
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&& cd build \
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&& cmake .. \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
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-DCMAKE_INSTALL_PREFIX=${TARGET_SYSROOT} \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
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&& make -j$(($(nproc) / 2)) && make install \
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&& rm -rf /tmp
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# Python 3.12
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FROM ${CC_PLATFORM_IMAGE} AS python_builder
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WORKDIR /tmp
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COPY --from=ssl_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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# COPY vendor_packages/Python-3.10.12.tar.xz .
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RUN wget https://www.python.org/ftp/python/3.10.12/Python-3.10.12.tar.xz \
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&& tar -xf Python-3.10.12.tar.xz \
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&& rm Python-3.10.12.tar.xz
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# 配置和编译 Python
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WORKDIR /tmp/Python-3.10.12
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ENV CC=aarch64-none-linux-gnu-gcc \
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CXX=aarch64-none-linux-gnu-g++ \
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AR=aarch64-none-linux-gnu-ar \
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RANLIB=aarch64-none-linux-gnu-ranlib \
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HOSTARCH=aarch64-none-linux-gnu \
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BUILDARCH=x86_64-linux-gnu
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RUN CFLAGS="-fPIC" LDFLAGS="-fPIC" ./configure \
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--host=aarch64-none-linux-gnu \
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--build=x86_64-linux-gnu \
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--prefix=${TARGET_SYSROOT} \
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--with-build-python=python3.12 \
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--disable-ipv6 \
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--enable-optimizations \
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--with-openssl=${TARGET_SYSROOT} \
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ac_cv_file__dev_ptmx=yes \
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ac_cv_file__dev_ptc=yes \
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&& make -j$(($(nproc) / 2)) && make install
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# https://github.com/benfogle/crossenv
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# cross compile python packages
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WORKDIR /tmp
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RUN python3 -m pip install crossenv \
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&& python3 -m crossenv ${TARGET_SYSROOT}/bin/python3 venv \
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&& . venv/bin/activate \
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&& pip -v install numpy==1.21.5 lark==1.1.1 packaging typing-extensions --prefix=${TARGET_SYSROOT}
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FROM ${CC_PLATFORM_IMAGE} AS final
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COPY --from=system_packages ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=ceres_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=opencv_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=pcl_vendor ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY --from=python_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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