aica-technology · eeberhard · May 13, 2024 · May 10, 2024 · May 10, 2024 · May 10, 2024
diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml
@@ -69,11 +69,24 @@ jobs:
         run: |
           BUILD_FLAGS=()
 
-          BASE_TAG=${{ inputs.ros_distro }}
+          ROS_DISTRO=${{ inputs.ros_distro }}
+          BUILD_FLAGS+=(--build-arg ROS_DISTRO=${ROS_DISTRO})
+
+          if [ ${ROS_DISTRO} == iron ]; then
+            # use a specific SHA256 digest for repeatability
+            # -> ros:iron from September 02, 2023
+            BASE_IMAGE=docker.io/library/ros@sha256
+            BASE_TAG=6df9b084cb7e918455df628126b2b647d2ad2e4b0e979fb8fbc525a610573bbb
+          else
+            BASE_IMAGE=docker.io/library/ros
+            BASE_TAG=${ROS_DISTRO}
+          fi
+
+          BUILD_FLAGS+=(--build-arg BASE_IMAGE=${BASE_IMAGE})
           BUILD_FLAGS+=(--build-arg BASE_TAG=${BASE_TAG})
 
           VERSION_TAG="v${{ needs.check-version.outputs.version }}"
-          IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${{ inputs.ros_distro}}","${{ inputs.ros_distro}}"
+          IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${ROS_DISTRO}","${ROS_DISTRO}"
           GIT_TAG="${VERSION_TAG}-${{ inputs.ros_distro}}"
           BUILD_FLAGS+=(--build-arg VERSION=${GIT_TAG})
 

diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile
@@ -1,10 +1,156 @@
+ARG BASE_IMAGE=docker.io/library/ros
 ARG BASE_TAG=iron
-FROM ghcr.io/aica-technology/ros2-control:${BASE_TAG}
+FROM ${BASE_IMAGE}:${BASE_TAG} as environment-variables
+ENV DEBIAN_FRONTEND=noninteractive
+ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
+ENV PIP_NO_CACHE_DIR 1
+ENV USER ros2
+ENV HOME /home/${USER}
+ENV ROS2_WORKSPACE /home/${USER}/ros2_ws
+ENV COLCON_HOME ${HOME}/.colcon
+ENV COLCON_DEFAULTS_FILE ${COLCON_HOME}/defaults.yaml
+ENV COLCON_WORKSPACE=${ROS2_WORKSPACE}
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
 
-ARG VERSION=v0.0.0
+
+FROM environment-variables as base-dependencies
+
+# disable suggested and recommended install
+RUN apt-config dump | grep -we Recommends -e Suggests | sed s/1/0/ \
+  | sudo tee /etc/apt/apt.conf.d/999norecommend
+
+# install base dependencies
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  autoconf \
+  automake \
+  curl \
+  featherpad \
+  gdb \
+  git \
+  iputils-ping \
+  libboost-all-dev \
+  libtool \
+  mesa-utils \
+  nano \
+  python3-pip \
+  ros-${ROS_DISTRO}-xacro \
+  ros-${ROS_DISTRO}-robot-state-publisher \
+  ros-${ROS_DISTRO}-rviz2 \
+  rsync \
+  software-properties-common \
+  ssh \
+  unzip \
+  wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN echo "Set disable_coredump false" >> /etc/sudo.conf
+
+# configure sshd server settings
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PubkeyAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_development \
+  && mkdir /run/sshd
+
+
+FROM base-dependencies as base-workspace
+
+# create and configure a new user
+ARG UID=1000
+ARG GID=1000
+RUN addgroup --gid ${GID} ${USER}
+RUN adduser --gecos "ROS2 User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
+RUN usermod -a -G dialout ${USER}
+RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
+RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
+
+# configure sshd entrypoint to authorise the new user for ssh access and
+# optionally update UID and GID when invoking the container with the entrypoint script
+COPY ./config/sshd_entrypoint.sh /sshd_entrypoint.sh
+RUN chmod 744 /sshd_entrypoint.sh
+
+# crete user group with realtime permissions and add user to it
+RUN groupadd -g 3719 realtime && usermod -aG realtime ${USER}
+RUN echo "@realtime        soft    rtprio          99\n@realtime        hard    rtprio          99\n" > \
+    /etc/security/limits.d/realtime.conf
+
+# configure colcon defaults and utilities
+USER ${USER}
+WORKDIR ${HOME}
+RUN wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format
+RUN mkdir -p ${COLCON_HOME}
+COPY --chown=${USER}:${USER} ./config/colcon ${COLCON_HOME}
+RUN /bin/bash ${COLCON_HOME}/setup.sh
+
+# build ROS workspace
+RUN mkdir -p ${ROS2_WORKSPACE}/src
+WORKDIR ${ROS2_WORKSPACE}
+RUN rosdep update
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build --symlink-install"
+
+# prepend the environment sourcing to bashrc (appending will fail for non-interactive sessions)
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash; \
+source ${ROS2_WORKSPACE}/install/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
+# enable colorized output from ros logging
+RUN echo "export RCUTILS_COLORIZED_OUTPUT=1" >> ${HOME}/.bashrc
+
+# create the credentials to be able to pull private repos using ssh
+USER root
+RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
+RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
+
+FROM base-workspace as ros2-control-iron
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  doxygen \
+  librange-v3-dev \
+  python3-jinja2 \
+  python3-typeguard \
+  && rm -rf /var/lib/apt/lists/*
+
+# build as ROS user
+USER ${USER}
+WORKDIR ${ROS2_WORKSPACE}/src
+
+RUN git clone -b 3.18.0 --depth 1 https://github.com/ros-controls/ros2_control.git
+RUN git clone -b 3.14.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
+# get additional interface dependencies manually
+RUN git clone -b 5.0.0 --depth 1 https://github.com/ros-controls/control_msgs.git
+RUN git clone -b 1.0.2 --depth 1 https://github.com/pal-robotics/backward_ros.git
+RUN git clone -b 3.1.2 --depth 1 https://github.com/ros/diagnostics.git
+RUN git clone -b 2.5.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
+RUN git clone -b 1.7.0 --depth 1 https://github.com/ros2/rcl_interfaces.git
+RUN git clone -b 0.11.0 --depth 1 https://github.com/ros2/test_interface_files.git
+RUN git clone -b 1.16.0 --depth 1 https://github.com/ros/angles.git
+RUN git clone -b ros2 --depth 1 https://github.com/ros-drivers/ackermann_msgs.git
+RUN git clone -b 0.3.3 --depth 1 https://github.com/PickNikRobotics/generate_parameter_library.git
+RUN git clone -b 0.2.2 --depth 1 https://github.com/PickNikRobotics/RSL.git
+RUN git clone -b 1.0.2 --depth 1 https://github.com/PickNikRobotics/cpp_polyfills.git
+RUN git clone -b 3.1.0 --depth 1 https://github.com/ros-controls/control_toolbox.git
+RUN git clone -b 0.1.0 --depth 1 https://github.com/ros-controls/kinematics_interface.git
+
+WORKDIR ${ROS2_WORKSPACE}
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
+RUN rm -rf ./src
+
+ARG ROS_DISTRO=iron
+FROM ros2-control-${ROS_DISTRO} as ros2-control
+
+FROM environment-variables as final
+COPY --from=ros2-control / /
+
+# start as ROS user
+USER ${USER}
+WORKDIR ${ROS2_WORKSPACE}
+
+# Metadata
+ARG BASE_IMAGE=docker.io/library/ros
 ARG BASE_TAG=iron
+ARG VERSION=v0.0.0
 LABEL org.opencontainers.image.title="AICA ROS 2 image"
 LABEL org.opencontainers.image.description="AICA base ROS 2 image (includes ros2_control)"
 LABEL org.opencontainers.image.version="${VERSION}"
-LABEL org.opencontainers.image.base.name="docker.io/library/ros:${BASE_TAG}"
-LABEL tech.aica.image.metadata='{"type":"base/ws","base":{"name":"docker.io/library/ros","version":"'${BASE_TAG}'"}}'
+LABEL org.opencontainers.image.base.name="${BASE_IMAGE}:${BASE_TAG}"
+LABEL tech.aica.image.metadata='{"type":"base/ws","base":{"name":"${BASE_IMAGE}:${BASE_TAG}","version":"${VERSION}"}}'
+LABEL devcontainer.metadata='[{"containerUser": "ros2"}]'
diff --git a/ros2_ws/VERSION.iron b/ros2_ws/VERSION.iron
@@ -1 +1 @@
-1.0.0
+1.0.1