EricX-Zhao
111 lines
4.2 KiB
Docker
111 lines
4.2 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_DISTRO}/ros_${ROS_DISTRO}.repos .
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RUN vcs import --shallow --workers 4 --input ros_${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 ${CC_PLATFORM_IMAGE} AS ros_builder
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ARG ROS_DISTRO
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ARG ROS_ROOT
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ENV ROS_ROOT=${ROS_ROOT}
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WORKDIR /workspace
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COPY --from=ros_src /workspace /workspace
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COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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COPY ros2/${ROS_DISTRO}/patch /workspace/patch
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COPY ros2/ros_cpp /workspace/src/ros_cpp
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# apply patch
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RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
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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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&& touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE \
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&& touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE
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# -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
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RUN MAKEFLAGS="-j6" ROS_ROOT=${TARGET_SYSROOT} 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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-DPYTHON_SOABI=cpython-310-aarch64-linux-gnu
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# pybind11 python soabi issue
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WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rclpy
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RUN mv _rclpy_pybind11.cpython-310-x86_64-linux-gnu.so _rclpy_pybind11.cpython-310-aarch64-linux-gnu.so
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WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosbag2_py
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RUN mv _transport.cpython-310-x86_64-linux-gnu.so _transport.cpython-310-aarch64-linux-gnu.so
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RUN mv _info.cpython-310-x86_64-linux-gnu.so _info.cpython-310-aarch64-linux-gnu.so
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RUN mv _compression_options.cpython-310-x86_64-linux-gnu.so _compression_options.cpython-310-aarch64-linux-gnu.so
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RUN mv _storage.cpython-310-x86_64-linux-gnu.so _storage.cpython-310-aarch64-linux-gnu.so
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RUN mv _reindexer.cpython-310-x86_64-linux-gnu.so _reindexer.cpython-310-aarch64-linux-gnu.so
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RUN mv _writer.cpython-310-x86_64-linux-gnu.so _writer.cpython-310-aarch64-linux-gnu.so
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RUN mv _message_definitions.cpython-310-x86_64-linux-gnu.so _message_definitions.cpython-310-aarch64-linux-gnu.so
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RUN mv _reader.cpython-310-x86_64-linux-gnu.so _reader.cpython-310-aarch64-linux-gnu.so
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WORKDIR ${TARGET_SYSROOT}/lib/python3.10/site-packages/rosidl_buffer
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RUN mv _rosidl_buffer_py.cpython-310-x86_64-linux-gnu.so _rosidl_buffer_py.cpython-310-aarch64-linux-gnu.so
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FROM ${CC_PLATFORM_IMAGE} AS rmw_zenoh_builder
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ARG ROS_ROOT
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ENV ROS_ROOT=${ROS_ROOT}
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COPY --from=ros_builder ${TARGET_SYSROOT} ${TARGET_SYSROOT}
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# rust install
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RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
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RUN . "$HOME/.cargo/env" \
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&& rustup install 1.75.0 \
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&& rustup default 1.75.0 \
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&& rustup target add aarch64-unknown-linux-gnu
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RUN mkdir rmw_zenoh_ws/src -p \
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&& cd rmw_zenoh_ws/src \
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&& git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git
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ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc
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RUN . "$HOME/.cargo/env" \
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&& . ${TARGET_SYSROOT}/local_setup.sh \
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&& colcon build \
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--install-base ${TARGET_SYSROOT} \
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--merge-install \
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--packages-up-to rmw_zenoh_cpp \
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--cmake-force-configure \
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--cmake-args \
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--no-warn-unused-cli \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_TOOLCHAIN_FILE=${CC_TOOLCHAIN_FILE} \
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-DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
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-DBUILD_TESTING=OFF \
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-DZENOHC_CUSTOM_TARGET=aarch64-unknown-linux-gnu
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RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/include ${TARGET_SYSROOT}
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RUN cp -rf ${TARGET_SYSROOT}/opt/zenoh_cpp_vendor/lib ${TARGET_SYSROOT}
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RUN rm -rf ${TARGET_SYSROOT}/opt
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FROM ${CC_PLATFORM_IMAGE} AS final
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ARG ROS_ROOT
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ENV ROS_ROOT=${ROS_ROOT}
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COPY --from=rmw_zenoh_builder ${TARGET_SYSROOT} ${ROS_ROOT}
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ENV TARGET_SYSROOT=${ROS_ROOT}
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WORKDIR /workspace
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