Dockerfile

# parameters
ARG PROJECT_NAME
ARG PROJECT_DESCRIPTION
ARG PROJECT_MAINTAINER
# pick an icon from: https://fontawesome.com/v4.7.0/icons/
ARG PROJECT_ICON="cube"
ARG PROJECT_FORMAT_VERSION
# ROS2
ARG ROS2_DISTRO=rolling

# ==================================================>
# ==> Do not change the code below this line
ARG ARCH
ARG DISTRO
ARG DOCKER_REGISTRY
ARG BASE_REPOSITORY
ARG BASE_ORGANIZATION=duckietown
ARG BASE_TAG=${DISTRO}-${ARCH}
ARG LAUNCHER=default

# define base image
FROM ${DOCKER_REGISTRY}/${BASE_ORGANIZATION}/${BASE_REPOSITORY}:${BASE_TAG} AS base

# recall all arguments
ARG ARCH
ARG DISTRO
ARG DOCKER_REGISTRY
ARG PROJECT_NAME
ARG PROJECT_DESCRIPTION
ARG PROJECT_MAINTAINER
ARG PROJECT_ICON
ARG PROJECT_FORMAT_VERSION
ARG BASE_TAG
ARG BASE_REPOSITORY
ARG BASE_ORGANIZATION
ARG LAUNCHER
# - buildkit
ARG TARGETPLATFORM
ARG TARGETOS
ARG TARGETARCH
ARG TARGETVARIANT
# - ROS2
ARG ROS2_DISTRO

# ROS2 info
ENV ROS2_DISTRO="${ROS2_DISTRO}" \
    COLCON_WS="/code"

# check build arguments
RUN dt-args-check \
    "PROJECT_NAME" "${PROJECT_NAME}" \
    "PROJECT_DESCRIPTION" "${PROJECT_DESCRIPTION}" \
    "PROJECT_MAINTAINER" "${PROJECT_MAINTAINER}" \
    "PROJECT_ICON" "${PROJECT_ICON}" \
    "PROJECT_FORMAT_VERSION" "${PROJECT_FORMAT_VERSION}" \
    "ARCH" "${ARCH}" \
    "DISTRO" "${DISTRO}" \
    "DOCKER_REGISTRY" "${DOCKER_REGISTRY}" \
    "BASE_REPOSITORY" "${BASE_REPOSITORY}" \
    && dt-check-project-format "${PROJECT_FORMAT_VERSION}"

# define/create repository path
ARG PROJECT_PATH="${SOURCE_DIR}/${PROJECT_NAME}"
ARG PROJECT_LAUNCHERS_PATH="${LAUNCHERS_DIR}/${PROJECT_NAME}"
RUN mkdir -p "${PROJECT_PATH}" "${PROJECT_LAUNCHERS_PATH}"
WORKDIR "${PROJECT_PATH}"

# keep some arguments as environment variables
ENV DT_PROJECT_NAME="${PROJECT_NAME}" \
    DT_PROJECT_DESCRIPTION="${PROJECT_DESCRIPTION}" \
    DT_PROJECT_MAINTAINER="${PROJECT_MAINTAINER}" \
    DT_PROJECT_ICON="${PROJECT_ICON}" \
    DT_PROJECT_PATH="${PROJECT_PATH}" \
    DT_PROJECT_LAUNCHERS_PATH="${PROJECT_LAUNCHERS_PATH}" \
    DT_LAUNCHER="${LAUNCHER}"

# copy binaries
#COPY ./assets/bin/. /usr/local/bin/

# setup ROS2 sources
RUN apt-get update && apt-get install -y \
    curl \
    gnupg2 \
    lsb-release \
    && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
    && sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list'

# remove catkin from base image (installed by ament)
# TODO: this might not be needed anymore
RUN apt-get remove -y \
    python3-catkin-pkg

# install apt dependencies
COPY ./dependencies-apt.txt "${PROJECT_PATH}/"
RUN dt-apt-install ${PROJECT_PATH}/dependencies-apt.txt

# install python3 dependencies
ARG PIP_INDEX_URL="https://pypi.org/simple"
ENV PIP_INDEX_URL=${PIP_INDEX_URL}
COPY ./dependencies-py3.* "${PROJECT_PATH}/"
RUN dt-pip3-install "${PROJECT_PATH}/dependencies-py3.*"

# copy the source code
COPY ./packages "${PROJECT_PATH}/packages"

# build packages
RUN . /opt/ros/${ROS2_DISTRO}/setup.sh && \
  dt-colcon-build ${WORKSPACE_DIR}

# install launcher scripts
COPY ./launchers/. "${PROJECT_LAUNCHERS_PATH}/"
RUN dt-install-launchers "${PROJECT_LAUNCHERS_PATH}"

# install scripts
COPY ./assets/entrypoint.d "${PROJECT_PATH}/assets/entrypoint.d"
COPY ./assets/environment.d "${PROJECT_PATH}/assets/environment.d"

# define default command
CMD ["bash", "-c", "dt-launcher-${DT_LAUNCHER}"]

# store module metadata
LABEL \
    # module info
    org.duckietown.label.project.name="${PROJECT_NAME}" \
    org.duckietown.label.project.description="${PROJECT_DESCRIPTION}" \
    org.duckietown.label.project.maintainer="${PROJECT_MAINTAINER}" \
    org.duckietown.label.project.icon="${PROJECT_ICON}" \
    org.duckietown.label.project.path="${PROJECT_PATH}" \
    org.duckietown.label.project.launchers.path="${PROJECT_LAUNCHERS_PATH}" \
    # format
    org.duckietown.label.format.version="${PROJECT_FORMAT_VERSION}" \
    # platform info
    org.duckietown.label.platform.os="${TARGETOS}" \
    org.duckietown.label.platform.architecture="${TARGETARCH}" \
    org.duckietown.label.platform.variant="${TARGETVARIANT}" \
    # code info
    org.duckietown.label.code.distro="${DISTRO}" \
    org.duckietown.label.code.launcher="${LAUNCHER}" \
    org.duckietown.label.code.python.registry="${PIP_INDEX_URL}" \
    # base info
    org.duckietown.label.base.organization="${BASE_ORGANIZATION}" \
    org.duckietown.label.base.repository="${BASE_REPOSITORY}" \
    org.duckietown.label.base.tag="${BASE_TAG}"
# <== Do not change the code above this line
# <================================================== \