fix ROS2 install on containers

PX4 · Jun 28, 2020 · d635bef · d635bef
1 parent f795c9c
commit d635bef
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Showing 10 changed files with 61 additions and 86 deletions.
diff --git a/.github/workflows/docker_builds.yml b/.github/workflows/docker_builds.yml
@@ -268,7 +268,7 @@ jobs:
     - uses: actions/checkout@v1
     - uses: julianoes/Publish-Docker-Github-Action@master
       with:
-        name: px4io/px4-dev-ros-melodic
+        name: px4io/px4-dev-ros-noetic
         username: ${{ secrets.DOCKER_USERNAME }}
         password: ${{ secrets.DOCKER_PASSWORD }}
         dockerfile: docker/Dockerfile_ros-noetic

diff --git a/docker/Dockerfile_ros-kinetic b/docker/Dockerfile_ros-kinetic
@@ -52,9 +52,3 @@ RUN pip install argcomplete argparse catkin_pkg catkin-tools cerberus coverage \
 
 # bootstrap rosdep
 RUN rosdep init && rosdep update
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros-melodic b/docker/Dockerfile_ros-melodic
@@ -48,9 +48,3 @@ RUN pip install argcomplete argparse catkin_pkg catkin-tools cerberus coverage \
 
 # bootstrap rosdep
 RUN rosdep init && rosdep update
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros-noetic b/docker/Dockerfile_ros-noetic
@@ -39,9 +39,3 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6B
 
 # bootstrap rosdep
 RUN rosdep init && rosdep update
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros2-ardent b/docker/Dockerfile_ros2-ardent
@@ -13,14 +13,21 @@ ENV ROS_DISTRO ardent
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 # setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list \
-	&& apt-get update
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 
-# install ros2 desktop
-RUN apt-get install -y --quiet \
-		libeigen3-dev \
+# install bootstrap tools
+RUN apt-get update \
+	&& apt-get install --quiet -y \
 		python3-colcon-common-extensions \
+		python3-colcon-mixin \
 		python3-vcstool \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# install ros2 desktop
+RUN apt-get install --quiet --no-install-recommends -y \
+		libeigen3-dev \
 		ros-$ROS_DISTRO-desktop \
 		ros-$ROS_DISTRO-rosidl-generator-dds-idl \
 	&& apt-get -y autoremove \
@@ -30,8 +37,6 @@ RUN apt-get install -y --quiet \
 # Install python 3 packages needed for testing
 RUN pip3 install --upgrade \
 		argcomplete \
-		colcon-common-extensions \
-		colcon-mixin \
 		flake8 \
 		flake8-blind-except \
 		flake8-builtins \
@@ -52,9 +57,3 @@ RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mix
 	&& colcon mixin update \
 	&& colcon metadata add default https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros2-bouncy b/docker/Dockerfile_ros2-bouncy
@@ -13,13 +13,20 @@ ENV ROS_DISTRO bouncy
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 # setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list \
-	&& apt-get update
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 
-# install ros2 desktop
-RUN apt-get install -y --quiet \
+# install bootstrap tools
+RUN apt-get update \
+	&& apt-get install --quiet -y \
 		python3-colcon-common-extensions \
+		python3-colcon-mixin \
 		python3-vcstool \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# install ros2 desktop
+RUN apt-get install --quiet --no-install-recommends -y \
 		ros-$ROS_DISTRO-desktop \
 		ros-$ROS_DISTRO-rosidl-generator-dds-idl \
 	&& apt-get -y autoremove \
@@ -29,8 +36,6 @@ RUN apt-get install -y --quiet \
 # Install Python 3 packages needed for testing
 RUN pip3 install --upgrade \
 		argcomplete \
-		colcon-common-extensions \
-		colcon-mixin \
 		flake8 \
 		flake8-blind-except \
 		flake8-builtins \
@@ -67,9 +72,3 @@ RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4
 	&& gradle assemble \
 	&& gradle install \
 	&& rm -rf /tmp/*
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros2-crystal b/docker/Dockerfile_ros2-crystal
@@ -13,13 +13,20 @@ ENV ROS_DISTRO crystal
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 # setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list \
-	&& apt-get update
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 
-# install ros2 desktop
-RUN apt-get install -y --quiet \
+# install bootstrap tools
+RUN apt-get update \
+	&& apt-get install --quiet -y \
 		python3-colcon-common-extensions \
+		python3-colcon-mixin \
 		python3-vcstool \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# install ros2 desktop
+RUN apt-get install --quiet --no-install-recommends -y \
 		ros-$ROS_DISTRO-desktop \
 		ros-$ROS_DISTRO-ros2bag \
 		ros-$ROS_DISTRO-rosidl-generator-dds-idl \
@@ -30,8 +37,6 @@ RUN apt-get install -y --quiet \
 # Install Python 3 packages needed for testing
 RUN pip3 install --upgrade \
 		argcomplete \
-		colcon-common-extensions \
-		colcon-mixin \
 		flake8 \
 		flake8-blind-except \
 		flake8-builtins \
@@ -61,9 +66,3 @@ RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/
 	&& cmake -DBUILD_JAVA=ON -DTHIRDPARTY=ON -DSECURITY=ON .. \
 	&& cmake --build . --target install -- -j $(nproc) \
 	&& rm -rf /tmp/*
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros2-dashing b/docker/Dockerfile_ros2-dashing
@@ -13,13 +13,20 @@ ENV ROS_DISTRO dashing
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 # setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list \
-	&& apt-get update
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 
-# install ros2 desktop
-RUN apt-get install -y --quiet \
+# install bootstrap tools
+RUN apt-get update \
+	&& apt-get install --quiet -y \
 		python3-colcon-common-extensions \
+		python3-colcon-mixin \
 		python3-vcstool \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# install ros2 desktop
+RUN apt-get install --quiet --no-install-recommends -y \
 		ros-$ROS_DISTRO-desktop \
 		ros-$ROS_DISTRO-launch-testing-ament-cmake \
 		ros-$ROS_DISTRO-ros2bag \
@@ -31,8 +38,6 @@ RUN apt-get install -y --quiet \
 # Install Python 3 packages needed for testing
 RUN pip3 install --upgrade \
 		argcomplete \
-		colcon-common-extensions \
-		colcon-mixin \
 		flake8 \
 		flake8-blind-except \
 		flake8-builtins \
@@ -53,9 +58,3 @@ RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mix
 	&& colcon mixin update \
 	&& colcon metadata add default https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros2-eloquent b/docker/Dockerfile_ros2-eloquent
@@ -13,13 +13,20 @@ ENV ROS_DISTRO eloquent
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 # setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list \
-	&& apt-get update
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 
-# install ros2 desktop
-RUN apt-get install -y --quiet \
+# install bootstrap tools
+RUN apt-get update \
+	&& apt-get install --quiet -y \
 		python3-colcon-common-extensions \
+		python3-colcon-mixin \
 		python3-vcstool \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# install ros2 desktop
+RUN apt-get install --quiet --no-install-recommends -y \
 		ros-$ROS_DISTRO-desktop \
 		ros-$ROS_DISTRO-launch-testing-ament-cmake \
 		ros-$ROS_DISTRO-ros2bag \
@@ -31,8 +38,6 @@ RUN apt-get install -y --quiet \
 # Install Python 3 packages needed for testing
 RUN pip3 install --upgrade \
 		argcomplete \
-		colcon-common-extensions \
-		colcon-mixin \
 		flake8 \
 		flake8-blind-except \
 		flake8-builtins \
@@ -70,9 +75,3 @@ RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/
 	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
 	&& cmake --build . --target install -- -j $(nproc) \
 	&& rm -rf /tmp/*
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_ros2-foxy b/docker/Dockerfile_ros2-foxy
@@ -13,12 +13,11 @@ ENV ROS_DISTRO foxy
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 
 # setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list \
-	&& apt-get update
+RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 
 # install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
-		git \
+RUN apt-get update \
+	&& apt-get install --quiet -y \
 		python3-colcon-common-extensions \
 		python3-colcon-mixin \
 		python3-rosdep \
@@ -28,8 +27,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
 # install ros2 desktop
-RUN apt-get install -y --quiet \
-		python3-vcstool \
+RUN apt-get install --quiet --no-install-recommends -y \
 		ros-$ROS_DISTRO-desktop \
 		ros-$ROS_DISTRO-launch-testing-ament-cmake \
 		ros-$ROS_DISTRO-ros2bag \