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Add version to Dockerfile. Create dockerfile for humble
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@mruedac
mruedac committed Jun 1, 2023
1 parent 5e63c59 commit 484421d
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3 changes: 2 additions & 1 deletion Dockerfile
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# Install colcon, rosdep and dependencies
FROM kpe-streaming as kpe-ros2-core
RUN --mount=type=ssh git clone --recurse-submodules [email protected]:klepsydra-technologies/kpe-ros2-core.git
ENV KPE_ROS2_CORE_VER=v1.0.0
RUN --mount=type=ssh git clone --branch ${KPE_ROS2_CORE_VER} --recurse-submodules [email protected]:klepsydra-technologies/kpe-ros2-core.git
ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt

RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
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211 changes: 211 additions & 0 deletions DockerfileHumble
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ARG image_base=osrf/ros:humble-desktop

ARG registry=registry.klepsydra.io/repository
ARG board=amd64
ARG osrelease=jammy

FROM $image_base as system_dep

ENV TZ 'Europe/Madrid'
ENV LC_ALL en_US.UTF-8
ENV LANG en_US.UTF-8
ENV LANGUAGE en_US.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
RUN groupadd --gid 10000 kpsruser && \
useradd --uid 10000 --gid kpsruser --shell /bin/bash --create-home kpsruser && \
usermod -aG sudo kpsruser && \
echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

ENV BUILD_MODE=Release

ARG OPENSSLVERSION="OpenSSL_1_1_1i"
RUN git clone https://github.com/openssl/openssl.git && \
cd openssl && git checkout ${OPENSSLVERSION} && \
./config -fPIC shared && \
make -j$(nproc) && \
make install && \
cd ../ && rm -rf openssl

ARG YAMLCPPVERSION="yaml-cpp-0.7.0"
RUN git clone https://github.com/jbeder/yaml-cpp && \
cd yaml-cpp && git checkout ${YAMLCPPVERSION} && \
mkdir build && \
cd build && \
cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DYAML_CPP_BUILD_TESTS=Off ../ && \
make -j$(nproc) && \
make install && \
cd ../../ && rm -rf yaml-cpp

ARG ZMQVERSION="v4.3.4"
RUN git clone https://github.com/zeromq/libzmq.git && \
cd libzmq && \
git checkout ${ZMQVERSION} && \
mkdir build && \
cd build && \
cmake ../ && \
make -j$(nproc) && \
make install && \
cd ../../ && rm -rf libzmq

ARG ZMQCPPVERSION="v4.8.0"
RUN git clone https://github.com/zeromq/cppzmq.git && \
cd cppzmq && \
git checkout ${ZMQCPPVERSION} && \
mkdir build && cd build && \
cmake ../ && \
make -j$(nproc) && \
make install && \
cd ../../ && rm -rf cppzmq

ARG BENCHMARKVERSION="3b3de69400164013199ea448f051d94d7fc7d81f"
RUN git clone https://github.com/google/benchmark.git && \
cd benchmark && \
git checkout ${BENCHMARKVERSION} && \
mkdir build && cd build && \
cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release ../ && \
make -j$(nproc) && \
make install && \
cd ../../ && \
rm -rf benchmark

RUN apt-get -y update && apt-get -y install libtool

ARG PROTOBUFVERSION="v3.19.0"
RUN git clone https://github.com/protocolbuffers/protobuf.git && \
cd protobuf && \
git checkout ${PROTOBUFVERSION} && \
git submodule update --init --recursive && \
./autogen.sh && ./configure && \
make -j$(nproc) && \
sudo make install && ldconfig && \
cd ../../ && \
rm -rf protobuf

ARG EIGENVERSION="3.4.0"
RUN git clone https://gitlab.com/libeigen/eigen.git && \
cd eigen && \
git checkout ${EIGENVERSION} && \
mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release ../ && \
make -j$(nproc) && \
sudo make install && \
cd ../../ && \
rm -rf eigen

ARG OPENCVVERSION="3.4.17"
RUN git clone https://github.com/opencv/opencv.git && \
cd opencv && \
git checkout ${OPENCVVERSION} && \
mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DINSTALL_TESTS=OFF -DINSTALL_PYTHON_EXAMPLES=OFF -DINSTALL_C_EXAMPLES=OFF -DBUILD_opencv_apps=OFF ../ && \
make -j$(nproc) && \
sudo make install && \
cd ../../ && \
rm -rf opencv


USER root
WORKDIR /home/kpsruser
RUN <<EOF
# echo "deb https://${registry}/${board}/ ${osrelease} main" >> /etc/apt/sources.list.d/klepsydra.list
# apt-key add /tmp/public.gpg.key
# rm /tmp/public.gpg.key
# apt update
apt-get -y install python3-pip
pip config set global.extra-index-url https://registry.klepsydra.io/repository/kpe-pypi/simple
pip install kpsr-codegen
EOF

RUN mkdir -p -m 0700 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts

FROM system_dep as kpe-core



ENV KPE_CORE_TAG=v8.0.0
RUN --mount=type=ssh git clone --branch ${KPE_CORE_TAG} --recurse-submodules [email protected]:klepsydra-technologies/kpe-core
RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
cd /home/kpsruser/kpe-core
# Patch to make it work.
sed -i 's/set(_SPDLOG_VERSION "1.5")/set(_SPDLOG_VERSION "1.9.2")/g' CMakeLists.txt
mkdir build
cd build
cmake -DKPSR_WITH_YAML=false -DKPSR_WITH_SOCKET=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DKPSR_WITH_ROS_HUMBLE_OR_ABOVE=true \
-DKPSR_TEST_PERFORMANCE=false ../
make -j
sudo make install
EOF

FROM kpe-core as kpe-admin
ENV KPE_ADMIN_TAG=v7.0.0
RUN --mount=type=ssh git clone --branch ${KPE_ADMIN_TAG} --recurse-submodules [email protected]:klepsydra-technologies/kpe-admin
RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
#apt-get -y install libbsd-dev
cd /home/kpsruser/kpe-admin
sed -i '26d' modules/system/src/cpu_reader_linux.cpp
apt-get -y install glibc
mkdir build && cd build &&
cmake -DKPSR_WITH_SOCKET=true -DKPSR_NO_LICENSE=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
make -j$(nproc) &&
sudo make install
EOF


FROM kpe-admin as kpe-streaming
ENV KPE_STREAMING_VER=v11.1.0
RUN --mount=type=ssh git clone --branch ${KPE_STREAMING_VER} --recurse-submodules [email protected]:klepsydra-technologies/kpe-streaming
RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
cd /home/kpsruser/kpe-streaming
mkdir build && cd build &&
cmake -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
make -j$(nproc) &&
sudo make install
EOF

# Install colcon, rosdep and dependencies
FROM kpe-streaming as kpe-ros2-core
ENV KPE_ROS2_CORE_BRANCH=KPE-537-Fixing-dependencies-for-ros2-humble
RUN --mount=type=ssh git clone --branch ${KPE_ROS2_CORE_BRANCH} --recurse-submodules [email protected]:klepsydra-technologies/kpe-ros2-core.git
ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt

RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
pip install -U rosdep
rosdep init && rosdep update --include-eol-distros

. /opt/ros/humble/local_setup.sh
mkdir -p /home/kpsruser/kpe-ros2-core-install/src
ln -s /home/kpsruser/kpe-ros2-core/ /home/kpsruser/kpe-ros2-core-install/src/kpe-ros2-core
cd /home/kpsruser/kpe-ros2-core-install/
rosdep install --from-paths src --ignore-src -r -y &&
colcon build --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_MODE}
EOF

FROM kpe-ros2-core as reference_sytem
ENV KPE_REF_SYSTEM=update_klepsydra_executor
RUN --mount=type=ssh git clone --branch ${KPE_REF_SYSTEM} --recurse-submodules [email protected]:klepsydra-technologies/reference-system.git

RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
apt-get -y install ros-humble-ros-testing
mkdir -p /home/kpsruser/colcon_reference-system/src

ln -s /home/kpsruser/reference-system /home/kpsruser/colcon_reference-system/src/reference-system
cd /home/kpsruser/colcon_reference-system/

. /opt/ros/humble/local_setup.sh
colcon build --cmake-args -DCMAKE_PREFIX_PATH="/home/kpsruser/kpe-ros2-core-install/install" -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DRUN_BENCHMARK=ON
EOF

RUN apt-get -y install ros-humble-rmw-cyclonedds-cpp
RUN pip install pandas==2.0.1 bokeh==2.4.1 psrecord==1.2 numpy==1.24.3
RUN chmod +x /home/kpsruser/reference-system/autoware_reference_system/scripts/benchmark.py
# Necessary.
ENV LD_LIBRARY_PATH=/home/kpsruser/kpe-ros2-core-install/install/kpsr_ros2_executor/lib:/usr/local/lib:/home/kpsruser/colcon_reference-system/install/reference_interfaces/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib

RUN sed -i 's/parallised/parallelised/g' /home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy.json
# if this doesn't work YOU NEED TO MODIFY THE POLICY. parallised BECOMES parallelised.

USER kpsruser

RUN echo 'source /opt/ros/humble/setup.sh' >> /home/kpsruser/.bashrc &&
echo 'source /home/kpsruser/colcon_reference-system/install/setup.sh' >> /home/kpsruser/.bashrc &&
echo 'source /home/kpsruser/kpe-ros2-core-install/install/setup.sh' >> /home/kpsruser/.bashrc

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