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.
43 lines
1.1 KiB
YAML
43 lines
1.1 KiB
YAML
#
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services:
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# 第一步：编译基础镜像
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cc-base:
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build:
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context: .
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dockerfile: cc_base.Dockerfile
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image: cc-base:latest
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# 第二步：编译针对 RK3588 的镜像
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cc-toolchain:
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build:
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context: . # 上下文设为根目录，这样才能同时访问 rk3588 文件夹
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dockerfile: ${PLATFORM}/cc_${PLATFORM}.Dockerfile
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image: ${PLATFORM}/cc-toolchain:latest
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depends_on:
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- cc-base
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# 第三步：编译最终的供应商包镜像
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vendor-packages:
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build:
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context: .
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dockerfile: vendor_packages/vendor_packages.Dockerfile
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args:
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CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
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image: ${PLATFORM}/cc-vendor-packages:latest
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depends_on:
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- cc-toolchain
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ros2:
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build:
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context: .
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dockerfile: ros2/${ROS_DISTRO}/ros_${ROS_DISTRO}.Dockerfile
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args:
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ROS_DISTRO: ${ROS_DISTRO}
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PLATFORM: ${PLATFORM}
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CC_PLATFORM_IMAGE: ${PLATFORM}/cc-toolchain:latest
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VENDOR_PACKAGES_IMAGE: ${PLATFORM}/cc-vendor-packages:latest
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image: ${PLATFORM}/cc-ros-${ROS_DISTRO}:latest
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depends_on:
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- vendor-packages
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