EricX-Zhao
39 lines
1.0 KiB
Docker
39 lines
1.0 KiB
Docker
ARG CC_PLATFORM_IMAGE
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ARG VENDOR_PACKAGES_IMAGE
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FROM ${CC_PLATFORM_IMAGE} AS ros_src
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ARG ROS_DISTRO
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WORKDIR /workspace
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RUN mkdir -p /workspace/src
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COPY ros2/ros_rolling.repos .
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RUN vcs import --input ros_${ROS_DISTRO}.repos src
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RUN echo "Build ros ${ROS_DISTRO}"
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FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
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FROM ${CC_PLATFORM_IMAGE} AS ros_builder
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COPY --from=ros_src /workspace /workspace
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COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
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&& touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE
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RUN MAKEFLAGS="-j6" colcon build \
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--executor parallel \
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--parallel-workers 6 \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to ros_cpp \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
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-DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
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-DBUILD_TESTING=OFF \
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-DTRACETOOLS_DISABLED=ON \
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-DCV_BRIDGE_DISABLE_PYTHON=ON
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