Merge branch 'feat/docker_test' into development

README.md

@@ -59,16 +59,23 @@ $ catkin build
 
 ## Isolated Build with Docker
 
+The docker image is published regularly with updates to [Dockerhub](https://hub.docker.com/r/aaucns/mars_ros_test_env).
+If you want to build the image yourself, you can do so with
+
 ```sh
 $ cd mars_ros # Enter the source directory
-$ docker build --network=host -t mars_ros_test_env:latest . # Build the Docker image
+$ docker build --network=host -t aaucns/mars_ros_test_env:latest . # Build the Docker image
+```
 
+Either way, you can then test your MaRS ROS wrapper by executing the following.
+
+```sh
 # The following runs the container, maps the source code (read only)
 # and executes the script in 'docker/docker_application_test.sh'
 $ docker run -it --rm \
   --network=host \
   -v "$(pwd)":/source:ro \
-  mars_ros_test_env:latest
+  aaucns/mars_ros_test_env:latest
 ```
 
 # Usage

docker/docker_application_test.sh

@@ -1,8 +1,23 @@
 #!/bin/bash -e
-echo "Copy Source Files..."
-cp -r /source/ /catkin_ws/src/mars_ros
-echo "Building the Appliaction..."
-cd /catkin_ws
+echo "Copyiing Source Files..."
+cp -r /source/ /catkin_build_ws/src/mars_ros
+cp -r /source/ /catkin_make_ws/src/mars_ros
+
+# build with catkin build
+echo "Building the Appliaction with 'catkin build' ..."
+cd /catkin_build_ws
 catkin build -DCMAKE_BUILD_TYPE=Release
 catkin build -DCMAKE_BUILD_TYPE=Debug
+echo "Building the Appliaction with 'catkin build' - DONE"
+# clean workspace to free up used disk space
+catkin clean -y
+rm -rf .catkin_tools
 
+# build with catkin_make
+echo "Building the Appliaction with 'catkin_make' ..."
+cd /catkin_make_ws
+catkin_make -DCMAKE_BUILD_TYPE=Release
+catkin_make -DCMAKE_BUILD_TYPE=Debug
+echo "Building the Appliaction with 'catkin_make' - DONE"
+# clean workspace to free up used disk space
+rm -rf build develop

docker/dockerfile

@@ -1,31 +1,50 @@
-FROM ros:noetic-ros-core
+# Copyright (C) 2022 Christian Brommer and Martin Scheiber,
+# Control of Networked Systems, University of Klagenfurt, Austria.
+#
+# All rights reserved.
+#
+# This software is licensed under the terms of the BSD-2-Clause-License with
+# no commercial use allowed, the full terms of which are made available
+# in the LICENSE file. No license in patents is granted.
+#
+# You can contact the author at <christian.brommer@ieee.org>
+# and <martin.scheiber@ieee.org>.
 
+FROM ros:noetic-ros-core as stage1
+LABEL author="Christian Brommer <christian.brommer@aau.at>"
+LABEL author="Martin Scheiber <martin.scheiber@aau.at>"
 LABEL maintainer="Christian Brommer <christian.brommer@aau.at>"
 LABEL description="Mars Ros Wrapper Test Environment"
 
-ENV DEBIAN_FRONTEND noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     vim \
     wget \
     doxygen \
     graphviz \
     build-essential \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN apt-get update && apt-get install --no-install-recommends -y \
     libeigen3-dev \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN apt-get update && apt-get install --no-install-recommends -y \
     python3-catkin-tools \
     ros-noetic-dynamic-reconfigure \
     ros-noetic-tf2-ros \
-    && rm -rf /var/lib/apt/lists/*
+    && rm -rf /var/lib/apt/lists/* \
+    && mkdir -p /catkin_build_ws/src \
+    && mkdir -p /catkin_make_ws/src
 
-RUN mkdir -p /catkin_ws/src
-WORKDIR /catkin_ws
-RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; catkin build'
+WORKDIR /catkin_build_ws
+RUN /bin/bash -c "source /opt/ros/noetic/setup.sh; rosdep init && rosdep update; \
+                  source /opt/ros/noetic/setup.sh; catkin init; catkin config --extend /opt/ros/noetic; \
+                  source /opt/ros/noetic/setup.sh; catkin build;"
+
+WORKDIR /catkin_make_ws
+RUN /bin/bash -c "source /opt/ros/noetic/setup.sh; catkin_make;"
 
 COPY ./docker_application_test.sh /
+
+# flatten image
+FROM scratch as final
+COPY --from=stage1 / /
+
+ENTRYPOINT ["/bin/bash"]
 CMD /docker_application_test.sh