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@@ -9,212 +9,161 @@ ARG UBUNTU_VERSION=jammy
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FROM ros:${ROS_VERSION}-ros-base-${UBUNTU_VERSION}
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-# Argument to control the type of docker image to build
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-ARG IMAGE_TYPE=full # Default to 'full'
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+ENV WORKSPACE=/data/workspace
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+
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+WORKDIR $WORKSPACE
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-# Arguments for the source repos
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+# O3DE Variables
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ARG O3DE_REPO=https://github.com/o3de/o3de.git
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-ARG O3DE_BRANCH=2305.1
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+ARG O3DE_BRANCH=main
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+ARG O3DE_COMMIT=HEAD
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+ENV O3DE_ROOT=$WORKSPACE/o3de
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+# O3DE Extras Variables
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ARG O3DE_EXTRAS_REPO=https://github.com/o3de/o3de-extras.git
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-ARG O3DE_EXTRAS_BRANCH=2305.0
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+ARG O3DE_EXTRAS_BRANCH=main
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+ARG O3DE_EXTRAS_COMMIT=HEAD
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+ENV O3DE_EXTRAS_ROOT=$WORKSPACE/o3de-extras
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+# ROSConDemo Variables
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ARG ROSCON_DEMO_REPO=https://github.com/o3de/ROSConDemo.git
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ARG ROSCON_DEMO_BRANCH=development
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+ARG ROSCON_DEMO_COMMIT=HEAD
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+ENV ROSCON_DEMO_ROOT=$WORKSPACE/ROSConDemo
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+ENV ROSCON_DEMO_PROJECT=$ROSCON_DEMO_ROOT/Project
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+ENV ROSCON_DEMO_NAV_ROOT=$ROSCON_DEMO_ROOT/kraken_nav
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-# Additional argument to control build concurrency
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-ARG CMAKE_JOBS=8
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-ARG DEBIAN_FRONTEND=noninteractive
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+# Copy the release-patch in case its needed
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+COPY o3de_2.1.0.patch $WORKSPACE/
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-ENV WORKSPACE=/data/workspace
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-
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-WORKDIR $WORKSPACE
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+ENV LANG=en_US.UTF-8
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# Setup time zone and locale data (necessary for SSL and HTTPS packages)
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-RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \
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- install \
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- tzdata \
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- locales \
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- keyboard-configuration \
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+RUN apt-get update \
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+ && DEBIAN_FRONTEND="noninteractive" apt-get -y install tzdata locales keyboard-configuration curl \
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&& sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
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&& dpkg-reconfigure --frontend=noninteractive locales \
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&& update-locale LANG=en_US.UTF-8 \
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+ && sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' \
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+ && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - \
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&& rm -rf /var/lib/apt/lists/*
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-ENV LANG=en_US.UTF-8
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-
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# Install the required ubuntu packages
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-RUN apt-get update && apt-get install -y \
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- bc \
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- bind9-utils \
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- binutils \
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- ca-certificates \
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- clang \
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- cmake \
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- curl \
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- file \
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- firewalld \
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- git \
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- git-lfs \
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- jq \
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- kbd \
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- kmod \
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- less \
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- lsb-release \
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- libglu1-mesa-dev \
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- libxcb-xinerama0 \
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- libfontconfig1-dev \
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- libcurl4-openssl-dev \
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- libnvidia-gl-470 \
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- libssl-dev \
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- libxcb-xkb-dev \
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- libxkbcommon-x11-dev \
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- libxkbcommon-dev \
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- libxcb-xfixes0-dev \
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- libxcb-xinput-dev \
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- libxcb-xinput0 \
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- libpcre2-16-0 \
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- lsof \
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- net-tools \
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- ninja-build \
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- pciutils \
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- python3-pip \
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- software-properties-common \
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- sudo \
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- tar \
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- unzip \
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- vim \
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- wget \
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- xz-utils \
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- && rm -rf /var/lib/apt/lists/*
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-
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-# Setup and install the ROS packages
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-RUN sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' \
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- && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
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-
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-RUN apt-get update && apt-get install -y \
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- ros-${ROS_DISTRO}-ackermann-msgs \
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- ros-${ROS_DISTRO}-control-toolbox \
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- ros-${ROS_DISTRO}-gazebo-msgs \
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- ros-${ROS_DISTRO}-joy \
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- ros-${ROS_DISTRO}-navigation2 \
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- ros-${ROS_DISTRO}-rviz2 \
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- ros-${ROS_DISTRO}-tf2-ros \
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- ros-${ROS_DISTRO}-urdfdom \
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- ros-${ROS_DISTRO}-vision-msgs \
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- python3-colcon-common-extensions \
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- ros-${ROS_DISTRO}-cyclonedds \
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- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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- ros-${ROS_DISTRO}-slam-toolbox \
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- ros-${ROS_DISTRO}-navigation2 \
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- ros-${ROS_DISTRO}-nav2-bringup \
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- ros-${ROS_DISTRO}-pointcloud-to-laserscan \
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- ros-${ROS_DISTRO}-teleop-twist-keyboard \
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- ros-${ROS_DISTRO}-ackermann-msgs \
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- ros-${ROS_DISTRO}-topic-tools \
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- && rm -rf /var/lib/apt/lists/* \
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- && pip install python-statemachine
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-
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-# Depending on the image type, sync, setup and build only whats needed
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-RUN if [ "${IMAGE_TYPE}" = "full" ]; then \
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- git clone --recursive $O3DE_REPO $WORKSPACE/o3de \
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- && git -C $WORKSPACE/o3de checkout $O3DE_BRANCH \
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- && git -C $WORKSPACE/o3de lfs install \
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- && git -C $WORKSPACE/o3de lfs pull \
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- && $WORKSPACE/o3de/python/get_python.sh \
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- && $WORKSPACE/o3de/scripts/o3de.sh register -ep $WORKSPACE/o3de \
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- && git clone $O3DE_EXTRAS_REPO \
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- && git -C $WORKSPACE/o3de-extras checkout $O3DE_EXTRAS_BRANCH \
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- && $WORKSPACE/o3de/scripts/o3de.sh register -gp $WORKSPACE/o3de-extras/Gems/ROS2 \
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- && git clone $ROSCON_DEMO_REPO \
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- && git -C $WORKSPACE/ROSConDemo checkout $ROSCON_DEMO_BRANCH \
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- && git -C $WORKSPACE/ROSConDemo lfs install \
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- && git -C $WORKSPACE/ROSConDemo lfs pull \
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- && $WORKSPACE/o3de/scripts/o3de.sh register -pp $WORKSPACE/ROSConDemo/Project \
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- && . /opt/ros/${ROS_DISTRO}/setup.sh \
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- && cd $WORKSPACE/ROSConDemo/Project \
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- && cmake -B $WORKSPACE/ROSConDemo/Project/build/linux -S . -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DLY_STRIP_DEBUG_SYMBOLS=ON \
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- && cmake --build $WORKSPACE/ROSConDemo/Project/build/linux --config profile --target ROSConDemo.GameLauncher Editor ROSConDemo.Assets -j $CMAKE_JOBS \
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- && cd $WORKSPACE/ROSConDemo/kraken_nav \
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- && colcon build --symlink-install \
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- && rm -rf ~/.o3de/3rdParty/ \
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- && rm -rf $WORKSPACE/o3de/.git \
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- && rm -rf $WORKSPACE/o3de/AutomatedTesting \
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- && rm -rf $WORKSPACE/o3de/python/downloaded_packages \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/Azcg/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/CMake \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/CMakeFiles/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/External/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/Testing/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/_deps/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/cmake \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/lib/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/o3de/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/packages/; \
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- elif [ "${IMAGE_TYPE}" = "simulation" ]; then \
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- git clone --recursive $O3DE_REPO $WORKSPACE/o3de \
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- && git -C $WORKSPACE/o3de checkout $O3DE_BRANCH \
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- && git -C $WORKSPACE/o3de lfs install \
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- && git -C $WORKSPACE/o3de lfs pull \
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- && $WORKSPACE/o3de/python/get_python.sh \
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- && $WORKSPACE/o3de/scripts/o3de.sh register -ep $WORKSPACE/o3de \
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- && git clone $O3DE_EXTRAS_REPO \
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- && git -C $WORKSPACE/o3de-extras checkout $O3DE_EXTRAS_BRANCH \
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- && $WORKSPACE/o3de/scripts/o3de.sh register -gp $WORKSPACE/o3de-extras/Gems/ROS2 \
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- && git clone $ROSCON_DEMO_REPO \
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- && git -C $WORKSPACE/ROSConDemo checkout $ROSCON_DEMO_BRANCH \
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- && git -C $WORKSPACE/ROSConDemo lfs install \
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- && git -C $WORKSPACE/ROSConDemo lfs pull \
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- && $WORKSPACE/o3de/scripts/o3de.sh register -pp $WORKSPACE/ROSConDemo/Project \
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- && . /opt/ros/${ROS_DISTRO}/setup.sh \
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- && cd $WORKSPACE/ROSConDemo/Project \
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- && cmake -B $WORKSPACE/ROSConDemo/Project/build/linux -S . -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DLY_STRIP_DEBUG_SYMBOLS=ON \
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- && cmake --build $WORKSPACE/ROSConDemo/Project/build/linux --config profile --target ROSConDemo.GameLauncher ROSConDemo.Assets -j $CMAKE_JOBS \
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- && rm -rf $WORKSPACE/o3de-extras/ \
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- && rm -rf ~/.o3de/3rdParty/ \
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- && rm -rf $WORKSPACE/o3de/.git \
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- && rm -rf $WORKSPACE/o3de/AutomatedTesting \
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- && rm -rf $WORKSPACE/o3de/python/downloaded_packages \
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- && rm -rf $WORKSPACE/o3de/Code \
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- && rm -rf $WORKSPACE/o3de/Gems \
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- && rm -rf $WORKSPACE/ROSConDemo/.git \
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- && rm -rf $WORKSPACE/ROSConDemo/Gem \
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- && rm -rf $WORKSPACE/ROSConDemo/Source \
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- && rm -rf $WORKSPACE/ROSConDemo/Levels \
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- && rm -rf $WORKSPACE/ROSConDemo/ReflectionProbes \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/Azcg/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/CMake \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/CMakeFiles/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/External/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/Testing/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/_deps/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/cmake \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/lib/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/o3de/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/packages/ \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/*.Editor.so \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/EditorPlugins \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/Editor \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/AssetProcessor \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/AssetProcessorBatch \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/MaterialEditor \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/AssetBuilder \
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- && rm -rf $WORKSPACE/ROSConDemo/build/linux/bin/profile/MaterialCanvas; \
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- elif [ "${IMAGE_TYPE}" = "navstack" ]; then \
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- git clone $ROSCON_DEMO_REPO \
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- && git -C $WORKSPACE/ROSConDemo checkout $ROSCON_DEMO_BRANCH \
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- && git -C $WORKSPACE/ROSConDemo lfs install \
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- && git -C $WORKSPACE/ROSConDemo lfs pull; \
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- else \
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- echo "Unsupported IMAGE_TYPE: ${IMAGE_TYPE}" && exit 1; \
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- fi
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+RUN apt-get update \
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+ && apt-get install -y \
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+ binutils \
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+ clang \
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+ cmake \
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+ git \
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+ git-lfs \
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+ libglu1-mesa-dev \
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+ libxcb-xinerama0 \
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+ libfontconfig1-dev \
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+ libnvidia-gl-470 \
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+ libxcb-xkb-dev \
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+ libxkbcommon-x11-dev \
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+ libxkbcommon-dev \
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+ libxcb-xfixes0-dev \
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+ libxcb-xinput-dev \
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+ libxcb-xinput0 \
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+ libpcre2-16-0 \
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+ ninja-build \
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+ python3-pip \
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+ software-properties-common \
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+ ros-${ROS_DISTRO}-ackermann-msgs \
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+ ros-${ROS_DISTRO}-control-toolbox \
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+ ros-${ROS_DISTRO}-gazebo-msgs \
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+ ros-${ROS_DISTRO}-joy \
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+ ros-${ROS_DISTRO}-navigation2 \
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+ ros-${ROS_DISTRO}-rviz2 \
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+ ros-${ROS_DISTRO}-tf2-ros \
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+ ros-${ROS_DISTRO}-urdfdom \
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+ ros-${ROS_DISTRO}-vision-msgs \
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+ ros-${ROS_DISTRO}-cyclonedds \
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+ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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+ ros-${ROS_DISTRO}-slam-toolbox \
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+ ros-${ROS_DISTRO}-nav2-bringup \
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+ ros-${ROS_DISTRO}-pointcloud-to-laserscan \
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+ ros-${ROS_DISTRO}-teleop-twist-keyboard \
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+ ros-${ROS_DISTRO}-topic-tools \
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+ python3-colcon-common-extensions \
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+ && rm -rf /var/lib/apt/lists/* \
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+ && pip install python-statemachine
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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-# Compile the navstack and add configuration to the startup
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-RUN cd $WORKSPACE/ROSConDemo/kraken_nav \
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- && colcon build --symlink-install \
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- && echo "source /data/workspace/ROSConDemo/kraken_nav/install/setup.bash" >> ~/.bashrc
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+# Clone, register, and build the projects
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+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
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+ \
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+ # Clone o3de \
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+ \
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+ && git clone --single-branch -b $O3DE_BRANCH $O3DE_REPO $O3DE_ROOT \
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+ && git -C $O3DE_ROOT lfs install \
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+ && git -C $O3DE_ROOT lfs pull \
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+ && git -C $O3DE_ROOT reset --hard $O3DE_COMMIT \
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+ \
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+ ############################################################### \
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+ # Apply a patch to fix a release compile issue if needed \
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+ ############################################################### \
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+ && if [ "$(md5sum $O3DE_ROOT/Gems/Atom/RPI/Code/Source/RPI.Public/RPISystem.cpp | awk '{print $1}')" = "07389c00378a13f31f1d6faf097a026b" ];then git -C $O3DE_ROOT apply $WORKSPACE/o3de_2.1.0.patch; fi \
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+ \
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+ ############################################################### \
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+ # Clone o3de-extras \
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+ ############################################################### \
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+ && git clone --single-branch -b $O3DE_EXTRAS_BRANCH $O3DE_EXTRAS_REPO $O3DE_EXTRAS_ROOT \
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+ && git -C $O3DE_EXTRAS_ROOT lfs install \
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+ && git -C $O3DE_EXTRAS_ROOT lfs pull \
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+ && git -C $O3DE_EXTRAS_ROOT reset --hard $O3DE_EXTRAS_COMMIT \
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+ \
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+ ############################################################### \
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+ # Clone the ROSConDemo \
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+ ############################################################### \
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+ && git clone --single-branch -b $ROSCON_DEMO_BRANCH $ROSCON_DEMO_REPO $ROSCON_DEMO_ROOT \
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+ && git -C $ROSCON_DEMO_ROOT lfs install \
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+ && git -C $ROSCON_DEMO_ROOT lfs pull \
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+ && git -C $ROSCON_DEMO_ROOT reset --hard $ROSCON_DEMO_COMMIT \
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+ \
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+ ############################################################### \
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+ # Get the O3DE python and register the gem paths and projects \
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+ ############################################################### \
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+ && $O3DE_ROOT/python/get_python.sh \
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+ && $O3DE_ROOT/scripts/o3de.sh register -ep $O3DE_ROOT \
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+ && $O3DE_ROOT/scripts/o3de.sh register -gp $O3DE_EXTRAS_ROOT/Gems/ROS2 \
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+ && $O3DE_ROOT/scripts/o3de.sh register -pp $ROSCON_DEMO_PROJECT \
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+ \
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+ ############################################################### \
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+ # Build the Editor, Tools, and clients
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+ ############################################################### \
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+ && cmake -B $ROSCON_DEMO_PROJECT/build/linux -G "Ninja Multi-Config" \
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+ -S $ROSCON_DEMO_PROJECT \
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+ -DLY_DISABLE_TEST_MODULES=ON \
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+ -DLY_STRIP_DEBUG_SYMBOLS=ON \
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+ -DAZ_USE_PHYSX5=ON \
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+ && cmake --build $ROSCON_DEMO_PROJECT/build/linux --config profile \
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+ --target ROSConDemo.GameLauncher Editor ROSConDemo.Assets \
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+ \
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+ ############################################################### \
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+ # Build the Editor, Tools, and clients
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+ ############################################################### \
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+ && rm -rf ~/.o3de/3rdParty/ \
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+ && rm -rf $O3DE_ROOT/.git \
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+ && rm -rf $O3DE_ROOT/AutomatedTesting \
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+ && rm -rf $O3DE_ROOT/python/downloaded_packages \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/Azcg/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/CMake \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/CMakeFiles/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/External/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/Testing/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/_deps/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/cmake \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/lib/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/o3de/ \
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+ && rm -rf $ROSCON_DEMO_PROJECT/build/linux/packages/
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+
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+# Build the navigation stack
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+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
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+ && cd $ROSCON_DEMO_NAV_ROOT \
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+ && colcon build --symlink-install
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# Add the appropriate ros2 environment setup script to the system startup
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RUN echo "[Unit]" > /etc/systemd/system/setup_ros.service \
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@@ -235,4 +184,3 @@ RUN echo "[Unit]" > /etc/systemd/system/setup_ros.service \
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ENV NVIDIA_VISIBLE_DEVICES all
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ENV NVIDIA_DRIVER_CAPABILITIES all
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-
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Steve Pham