Dockerfile

# Get a base image
FROM docker.io/ros:noetic-ros-base-focal as base
ENV DEBIAN_FRONTEND=noninteractive

# Install required packages
#   - git
#   - mosquitto broker
#   - nginx (remove default site to free up port 80)
RUN apt-get update && apt-get install --yes \
    git \
    mosquitto \
    nginx && rm -rf /var/www /etc/nginx/sites-enabled/* \
    rm -rf /var/lib/apt/lists/*

# Install our configs
COPY --link ./assets/mosquitto.conf /etc/mosquitto/mosquitto.conf
COPY --link ./assets/nginx.conf /etc/nginx/conf.d/default.conf

# Update rosdep
RUN rosdep update --rosdistro $ROS_DISTRO

# First stage: Pull the git and all submodules, other stages depend on it
FROM base as fetch

ENV DEBIAN_FRONTEND=noninteractive

COPY --link ./ /opt/open_mower_ros
#RUN git clone https://github.com/ClemensElflein/open_mower_ros /opt/open_mower_ros

WORKDIR /opt/open_mower_ros

RUN git submodule update --init --recursive


# Get slic3r_coverage_planner and build that. We will pull the finished install folder from this.
# This stage should cache most of the time, that's why it's not derived from the fetch stage, but copies stuff instead.
FROM base as slic3r

ENV DEBIAN_FRONTEND=noninteractive

# Fetch the slic3r planner from the repo (this will cache if unchanged)
COPY --link --from=fetch /opt/open_mower_ros/src/lib/slic3r_coverage_planner /opt/slic3r_coverage_planner_workspace/src

WORKDIR /opt/slic3r_coverage_planner_workspace
RUN rosdep install --from-paths src --ignore-src --simulate | \
    sed --expression '1d' | sort | tr -d '\n' | sed --expression 's/  apt-get install//g' > apt-install_list && \
    apt-get update && apt-get install --no-install-recommends --yes $(cat apt-install_list) && \
    rm -rf /var/lib/apt/lists/* apt-install_list
RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make"
RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && source /opt/slic3r_coverage_planner_workspace/devel/setup.bash && catkin_make -DCMAKE_INSTALL_PREFIX=/opt/prebuilt/slic3r_coverage_planner install"


# Fetch the repo and assemble the list of dependencies. We will pull these in the next step and actually run install on them
# If the package list is the same as last time, the apt install step is cached as well which saves a lot of time.
# Since the list gets sorted, it will be the same each time and the cache will know that by file checksum in the COPY command.
# We can't use this stage as base for the next, because this stage is run every time and would therefore invalidate the cache of the next stage.
FROM fetch as dependencies

ENV DEBIAN_FRONTEND=noninteractive

WORKDIR /opt/open_mower_ros

# This creates the sorted list of apt-get install commands.
RUN apt-get update && \
    rosdep install --from-paths src --ignore-src --simulate | \
    sed --expression '1d' | sort | tr -d '\n' | sed --expression 's/  apt-get install//g' > /apt-install_list \
    && rm -rf /var/lib/apt/lists/*


# We can't derive this from "dependencies" because "dependencies" will be rebuilt every time, but apt install should only be done if needed
FROM base as assemble

ENV DEBIAN_FRONTEND=noninteractive

#Fetch the slic3r built earlier, this only changes if slic3r was changed (probably never)
COPY --link --from=slic3r /opt/prebuilt/slic3r_coverage_planner /opt/prebuilt/slic3r_coverage_planner

#Fetch the list of packages, this only changes if new dependencies have been added (only sometimes)
COPY --link --from=dependencies /apt-install_list /apt-install_list
RUN apt-get update && \
    apt-get install --no-install-recommends --yes $(cat /apt-install_list) && \
    rm -rf /var/lib/apt/lists/*

# This will already have the submodules initialized, no need to clone again
COPY --link --from=fetch /opt/open_mower_ros /opt/open_mower_ros

#delete prebuilt libs (so that they won't shadow the preinstalled ones)
RUN rm -rf /opt/open_mower_ros/src/lib/slic3r_coverage_planner /apt-install_list

#RUN git clone https://github.com/ClemensElflein/open_mower_ros /opt/open_mower_ros

WORKDIR /opt/open_mower_ros

RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && cd /opt/open_mower_ros/src && catkin_init_workspace && cd .. && source /opt/prebuilt/slic3r_coverage_planner/setup.bash && catkin_make -DCATKIN_BLACKLIST_PACKAGES=slic3r_coverage_planner"

COPY .github/assets/openmower_entrypoint.sh /openmower_entrypoint.sh
RUN chmod +x /openmower_entrypoint.sh

ENTRYPOINT ["/openmower_entrypoint.sh"]
CMD ["bash", "-c", "service nginx start; service mosquitto start; roslaunch open_mower open_mower.launch --screen"]