Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Oguz Ozturk <oguzkaganozt@gmail.com>
- Loading branch information
1 parent
a03da5e
commit 9544556
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,88 @@ | ||
| ### Builder | ||
| FROM ghcr.io/autowarefoundation/autoware:universe-visualization-devel-amd64 AS builder | ||
| SHELL ["/bin/bash", "-o", "pipefail", "-c"] | ||
| ENV CCACHE_DIR="/root/.ccache" | ||
| ARG ROS_DISTRO | ||
| WORKDIR /autoware | ||
| COPY simulator.repos /autoware/simulator.repos | ||
| COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh | ||
| RUN chmod +x /autoware/resolve_rosdep_keys.sh | ||
|
|
||
| # Build simulator messages and rviz plugins ONLY | ||
| RUN --mount=type=ssh \ | ||
| --mount=type=cache,target=/var/cache/apt,sharing=locked \ | ||
| mkdir -p src \ | ||
| && vcs import src < simulator.repos \ | ||
| && apt-get update \ | ||
| && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \ | ||
| && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \ | ||
| && colcon build --cmake-args \ | ||
| "-Wno-dev" \ | ||
| "--no-warn-unused-cli" \ | ||
| --install-base /opt/autoware \ | ||
| --merge-install \ | ||
| --mixin release compile-commands ccache \ | ||
| --base-paths /autoware/src \ | ||
| --packages-up-to-regex ".*_msgs$" ".*rviz_plugin$" \ | ||
| && apt-get clean \ | ||
| && rm -rf /var/lib/apt/lists/* "$HOME"/.cache | ||
|
|
||
| # Extract rosdep dependencies for visualizer | ||
| RUN source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \ | ||
| && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \ | ||
| | grep -v "yamale\|xmlschema" \ | ||
| > /rosdep-visualizer-depend-packages.txt \ | ||
| && cat /rosdep-visualizer-depend-packages.txt | ||
|
|
||
| ### Visualizer | ||
| FROM ghcr.io/autowarefoundation/autoware:universe-visualization-amd64 AS visualizer | ||
| SHELL ["/bin/bash", "-o", "pipefail", "-c"] | ||
| ARG ROS_DISTRO | ||
| ARG LIB_DIR | ||
| ARG VNC_PASSWORD="*" | ||
| WORKDIR /autoware | ||
|
|
||
| # Get simulator messages, rviz plugins and dependencies | ||
| COPY --from=builder /opt/autoware /opt/autoware | ||
| COPY --from=builder /rosdep-visualizer-depend-packages.txt /tmp/rosdep-visualizer-depend-packages.txt | ||
|
|
||
| # Install openbox, VNC, ngrok, and simulator dependencies | ||
|
Check warning on line 49 in docker/tools/Dockerfile.visualizer
|
||
| RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \ | ||
| curl unzip openbox tigervnc-standalone-server tigervnc-common \ | ||
|
Check warning on line 51 in docker/tools/Dockerfile.visualizer
|
||
| novnc websockify python3-numpy python3-xdg \ | ||
|
Check warning on line 52 in docker/tools/Dockerfile.visualizer
|
||
| && curl -sSL https://ngrok-agent.s3.amazonaws.com/ngrok.asc \ | ||
| | tee /etc/apt/trusted.gpg.d/ngrok.asc >/dev/null && \ | ||
| echo "deb https://ngrok-agent.s3.amazonaws.com buster main" \ | ||
| | tee /etc/apt/sources.list.d/ngrok.list && \ | ||
| apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y ngrok \ | ||
| # Remove xmlschema and yamale from rosdep packages since we install via pip | ||
| && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-visualizer-depend-packages.txt \ | ||
| && pip install yamale xmlschema \ | ||
| && cat /tmp/rosdep-visualizer-depend-packages.txt | xargs apt-get install -y --no-install-recommends \ | ||
| && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO | ||
|
|
||
| # Set up VNC password | ||
| RUN mkdir -p ~/.vnc && \ | ||
| echo "$VNC_PASSWORD" | vncpasswd -f > ~/.vnc/passwd && \ | ||
| chmod 600 ~/.vnc/passwd | ||
|
|
||
| # Create SSL certificate for NoVNC | ||
| RUN openssl req -x509 -nodes -newkey rsa:2048 \ | ||
| -keyout /etc/ssl/private/novnc.key \ | ||
| -out /etc/ssl/certs/novnc.crt \ | ||
| -days 365 \ | ||
| -subj "/O=Autoware-OpenADKit/CN=localhost" | ||
|
|
||
| # Need to expose VNC and NoVNC ports when running the container | ||
| EXPOSE 5900 6080 | ||
|
|
||
| # Add source commands to bash startup | ||
| RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \ | ||
| echo "source /opt/autoware/setup.bash" >> /root/.bashrc | ||
|
|
||
| # Copy startup scripts | ||
| COPY docker/tools/etc/xstartup /root/.vnc/xstartup | ||
| COPY docker/tools/etc/entrypoint.sh /entrypoint.sh | ||
| RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup | ||
| ENTRYPOINT ["/entrypoint.sh"] | ||
| CMD ["/bin/bash"] | ||
