feat(ros2): 🚀 add ros 2 foxy build pipeline

robolaunch · May 25, 2023 · f709e75 · f709e75
2 parents a5f2cdd + 35b3a9a
commit f709e75
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Showing 6 changed files with 98 additions and 6 deletions.
diff --git a/dockerfiles/ros2/Dockerfile b/dockerfiles/ros2/Dockerfile
@@ -0,0 +1,30 @@
+
+ARG BASE_IMAGE="ubuntu:20.04"
+FROM ${BASE_IMAGE}-${TARGETARCH}
+
+SHELL ["/bin/bash", "-c"]
+ARG DEBIAN_FRONTEND=noninteractive
+
+ARG ROS_DISTRO_CODE=foxy
+
+RUN apt update && apt install -y \
+    gnupg2 \
+    lsb-release \
+    curl \
+    ssh \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+RUN apt update && apt install -y ros-${ROS_DISTRO_CODE}-ros-base
+
+RUN echo "source /opt/ros/${ROS_DISTRO_CODE}/setup.bash" >> ~/.bashrc
+RUN apt update && apt install -y \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    build-essential \
+    python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/pipelines/ros2/foxy.yaml b/pipelines/ros2/foxy.yaml
@@ -0,0 +1,17 @@
+name: foxy
+registry: docker.io
+organization: robolaunchio
+steps:
+- name: foxy
+  image:
+    repository: devspace-robotics
+    tag: foxy-xfce
+  path: "dockerfiles/ros2"
+  dockerfile: "Dockerfile"
+  buildArgs: 
+    "BASE_IMAGE": "robolaunchio/devspace:focal-xfce"
+    "ROS_DISTRO_CODE": "foxy"
+  platforms:
+  - "linux/amd64"
+  - "linux/arm64"
+  push: false
diff --git a/pipelines/test/test-multiarch.yaml b/pipelines/test/test-multiarch.yaml
@@ -0,0 +1,38 @@
+name: testing
+registry: docker.io
+organization: tunahanertekin
+steps:
+- name: ascii
+  image:
+    repository: test
+    tag: ascii
+  path: "dockerfiles/testing"
+  dockerfile: "Dockerfile.ascii"
+  buildArgs: 
+    "BASE_IMAGE": "ubuntu:focal"
+  platforms:
+  - "linux/amd64"
+  - "linux/arm64"
+  push: true
+- name: iputils
+  image:
+    repository: test
+    tag: ascii-iputils
+  baseStep: ascii
+  path: "dockerfiles/testing"
+  dockerfile: "Dockerfile.iputils"
+  platforms:
+  - "linux/amd64"
+  - "linux/arm64"
+  push: true
+- name: dnsutils
+  image:
+    repository: test
+    tag: ascii-iputils-dnsutils
+  baseStep: iputils
+  path: "dockerfiles/testing"
+  dockerfile: "Dockerfile.dnsutils"
+  platforms:
+  - "linux/amd64"
+  - "linux/arm64"
+  push: true
diff --git a/pipelines/test.yaml → pipelines/test/test.yaml b/pipelines/test.yaml → pipelines/test/test.yaml
@@ -10,20 +10,17 @@ steps:
   dockerfile: "Dockerfile.ascii"
   buildArgs: 
     "BASE_IMAGE": "ubuntu:focal"
-  push: false
 - name: iputils
   image:
     repository: test
     tag: ascii-iputils
   baseStep: ascii
   path: "dockerfiles/testing"
   dockerfile: "Dockerfile.iputils"
-  push: false
 - name: dnsutils
   image:
     repository: test
     tag: ascii-iputils-dnsutils
   baseStep: iputils
   path: "dockerfiles/testing"
-  dockerfile: "Dockerfile.dnsutils"
-  push: false
+  dockerfile: "Dockerfile.dnsutils"
diff --git a/pkg/docker/build.go b/pkg/docker/build.go
@@ -149,6 +149,11 @@ func BuildMultiplatform(ctx context.Context, dfName, dfPath, buildContext, baseI
 		step.Image.Name,
 	}
 
+	for k, v := range step.BuildArgs {
+		cmdBuildElements = append(cmdBuildElements, "--build-arg")
+		cmdBuildElements = append(cmdBuildElements, strings.ToUpper(k)+"="+*v)
+	}
+
 	if step.Push {
 		cmdBuildElements = append(cmdBuildElements, "--push")
 	}

diff --git a/pkg/process/step.go b/pkg/process/step.go
@@ -61,13 +61,18 @@ func start(step *api.Step, status *api.StepStatus, lc api.LaunchConfig) error {
 func build(step *api.Step, baseStep api.Step, stepStatus *api.StepStatus, lc api.LaunchConfig) error {
 
 	stepStatus.Phase = api.StepPhaseBuilding
-	GetSpinner(StepLog, " Building step: "+step.Name)
-	logSpinner.Start()
 	if len(step.Platforms) == 0 {
+		GetSpinner(StepLog, " Building step: "+step.Name)
+		logSpinner.Start()
 		if err := docker.Build(context.Background(), step.Dockerfile, step.Path, step.Context, *step, lc); err != nil {
 			return err
 		}
 	} else {
+		GetSpinner(StepLog, " Building step: "+step.Name)
+		if step.Push {
+			GetSpinner(StepLog, " Building and pushing step: "+step.Name)
+		}
+		logSpinner.Start()
 		if err := docker.BuildMultiplatform(context.Background(), step.Dockerfile, step.Path, step.Context, baseStep.Image.Name, *step, lc); err != nil {
 			return err
 		}