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make the agent image 4x smaller thanks to multi stage build #90

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Merged
pablogs9 merged 1 commit into from
Nov 24, 2022
Merged

make the agent image 4x smaller thanks to multi stage build #90

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4 changes: 2 additions & 2 deletions base/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
FROM ros:humble

RUN mkdir -p uros_ws
WORKDIR uros_ws
WORKDIR /uros_ws

RUN git clone --depth 1 -b humble https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup \
&& . /opt/ros/$ROS_DISTRO/setup.sh \
&& apt update \
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16 changes: 14 additions & 2 deletions micro-ROS-Agent/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
FROM microros/base:humble
FROM microros/base:humble AS micro-ros-agent-builder

WORKDIR /uros_ws
RUN . /opt/ros/$ROS_DISTRO/setup.sh \
Expand All @@ -8,10 +8,22 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh \
&& ros2 run micro_ros_setup build_agent.sh \
&& rm -rf log/ build/ src/

FROM ros:humble-ros-core

COPY --from=micro-ros-agent-builder /uros_ws /uros_ws

WORKDIR /uros_ws

# Disable shared memory
COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/

ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
ENV MICROROS_DISABLE_SHM=1

RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc

# setup entrypoint
COPY ./micro-ros_entrypoint.sh /
ENTRYPOINT ["/bin/sh", "/micro-ros_entrypoint.sh"]
CMD ["--help"]
CMD ["--help"]
10 changes: 6 additions & 4 deletions micro-ROS-Agent/micro-ros_entrypoint.sh
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Original file line number Diff line number Diff line change
@@ -1,10 +1,12 @@
. "/opt/ros/$ROS_DISTRO/setup.sh"
. "/uros_ws/install/local_setup.sh"

if [ "$ROS_LOCALHOST_ONLY" = "1" ] ; then
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm_localhost_only.xml
else
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm.xml
if [ "$MICROROS_DISABLE_SHM" = "1" ] ; then
if [ "$ROS_LOCALHOST_ONLY" = "1" ] ; then
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm_localhost_only.xml
else
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm.xml
fi
fi

exec ros2 run micro_ros_agent micro_ros_agent "$@"