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Dockerfile
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# parameters
ARG REPO_NAME="<REPO_NAME_HERE>"
ARG DESCRIPTION="<DESCRIPTION_HERE>"
ARG MAINTAINER="<YOUR_FULL_NAME> (<YOUR_EMAIL_ADDRESS>)"
# pick an icon from: https://fontawesome.com/v4.7.0/icons/
ARG ICON="cube"
# ==================================================>
# ==> Do not change the code below this line
ARG ARCH=arm64v8
ARG DISTRO=ente
ARG BASE_TAG=${DISTRO}-${ARCH}
ARG BASE_IMAGE=dt-core
ARG LAUNCHER=default
# define base image
ARG DOCKER_REGISTRY=docker.io
FROM ${DOCKER_REGISTRY}/duckietown/${BASE_IMAGE}:${BASE_TAG}
# recall all arguments
ARG ARCH
ARG DISTRO
ARG REPO_NAME
ARG DESCRIPTION
ARG MAINTAINER
ARG ICON
ARG BASE_TAG
ARG BASE_IMAGE
ARG LAUNCHER
# check build arguments
RUN dt-build-env-check "${REPO_NAME}" "${MAINTAINER}" "${DESCRIPTION}"
# define/create repository path
ARG REPO_PATH="${CATKIN_WS_DIR}/src/${REPO_NAME}"
ARG LAUNCH_PATH="${LAUNCH_DIR}/${REPO_NAME}"
RUN mkdir -p "${REPO_PATH}"
RUN mkdir -p "${LAUNCH_PATH}"
WORKDIR "${REPO_PATH}"
# keep some arguments as environment variables
ENV DT_MODULE_TYPE "${REPO_NAME}"
ENV DT_MODULE_DESCRIPTION "${DESCRIPTION}"
ENV DT_MODULE_ICON "${ICON}"
ENV DT_MAINTAINER "${MAINTAINER}"
ENV DT_REPO_PATH "${REPO_PATH}"
ENV DT_LAUNCH_PATH "${LAUNCH_PATH}"
ENV DT_LAUNCHER "${LAUNCHER}"
# install apt dependencies
COPY ./dependencies-apt.txt "${REPO_PATH}/"
RUN dt-apt-install ${REPO_PATH}/dependencies-apt.txt
# install python3 dependencies
COPY ./dependencies-py3.txt "${REPO_PATH}/"
RUN dt-pip3-install ${REPO_PATH}/dependencies-py3.txt
# copy the source code
COPY ./packages "${REPO_PATH}/packages"
# build packages
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
catkin build \
--workspace ${CATKIN_WS_DIR}/
# install launcher scripts
COPY ./launchers/. "${LAUNCH_PATH}/"
COPY ./launchers/default.sh "${LAUNCH_PATH}/"
RUN dt-install-launchers "${LAUNCH_PATH}"
# define default command
CMD ["bash", "-c", "dt-launcher-${DT_LAUNCHER}"]
# store module metadata
LABEL org.duckietown.label.module.type="${REPO_NAME}" \
org.duckietown.label.module.description="${DESCRIPTION}" \
org.duckietown.label.module.icon="${ICON}" \
org.duckietown.label.architecture="${ARCH}" \
org.duckietown.label.code.location="${REPO_PATH}" \
org.duckietown.label.code.version.distro="${DISTRO}" \
org.duckietown.label.base.image="${BASE_IMAGE}" \
org.duckietown.label.base.tag="${BASE_TAG}" \
org.duckietown.label.maintainer="${MAINTAINER}"
# <== Do not change the code above this line
# <==================================================