Dockerfile

# Copyright 2021 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# A Docker configuration script to build the MoveIt2/Space ROS image.
#
# The script provides the following build arguments:
#
#   VCS_REF         - The git revision of the Space ROS source code (no default value).
#   VERSION         - The version of Space ROS (default: "preview")
#   SPACE_ROS_IMAGE - The base Space ROS image to build on

ARG SPACE_ROS_IMAGE=osrf/space-ros:latest

FROM ${SPACE_ROS_IMAGE}

# Define arguments used in the metadata definition
ARG VCS_REF
ARG VERSION="preview"

# Specify the docker image metadata
LABEL org.label-schema.schema-version="1.0"
LABEL org.label-schema.name="MoveIt2"
LABEL org.label-schema.description="Preview version of the MoveIt2/Space ROS platform"
LABEL org.label-schema.vendor="Open Robotics"
LABEL org.label-schema.version=${VERSION}
LABEL org.label-schema.url="https://github.com/space-ros"
LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker-images"
LABEL org.label-schema.vcs-ref=${VCS_REF}

# Disable prompting during package installation
ARG DEBIAN_FRONTEND=noninteractive

# Clone all space-ros sources
RUN mkdir ${SPACEROS_DIR}/src \
  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos

# Define key locations
ENV MOVEIT2_DIR=${HOME_DIR}/moveit2

# Make sure the latest versions of packages are installed
# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
# the cache won't make it into the built image but will be maintained between steps.
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  sudo apt-get update
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  sudo apt-get dist-upgrade -y
RUN rosdep update

# Install the various build and test tools
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  sudo apt install -y \
  build-essential \
  clang-format \
  cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

# Install some pip packages needed for testing
RUN python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest

# Get the MoveIt2 source code
WORKDIR ${HOME_DIR}
RUN sudo git clone https://github.com/ros-planning/moveit2.git -b ${ROS_DISTRO} moveit2/src
RUN cd ${MOVEIT2_DIR}/src \
  && sudo git clone https://github.com/ros-planning/moveit2_tutorials.git -b ${ROS_DISTRO}

# Update the ownership of the source files (had to use sudo above to work around
# a possible inherited 'insteadof' from the host that forces use of ssh
RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}

# Get rosinstall_generator
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator

# Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
RUN rosinstall_generator \
  --rosdistro ${ROS_DISTRO} \
  --deps \
  --exclude-path ${SPACEROS_DIR}/src \
  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
  -- $(cat /tmp/moveit2-pkgs.txt) \
  > /tmp/moveit2_generated_pkgs.repos

# Get the repositories required by MoveIt2, but not included in Space ROS
WORKDIR ${MOVEIT2_DIR}
RUN vcs import src < /tmp/moveit2_generated_pkgs.repos
COPY --chown=${USERNAME}:${USERNAME} moveit2_tutorials.repos /tmp/
RUN vcs import src < /tmp/moveit2_tutorials.repos

# Update the ownership of the source files (had to use sudo above to work around
# a possible inherited 'insteadof' from the host that forces use of ssh
RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}

# Install system dependencies
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
 && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"

# Apply a patch to octomap_msgs to work around a build issue
COPY --chown=${USERNAME}:${USERNAME} octomap_fix.diff ./src/octomap_msgs
RUN cd src/octomap_msgs && git apply octomap_fix.diff

# Build MoveIt2
RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'

# Add a couple sample GUI apps for testing
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
  --mount=type=cache,target=/var/lib/apt,sharing=locked \
  sudo apt-get install -y \
  firefox \
  glmark2 \
  libcanberra-gtk3-0 \
  libpci-dev \
  xauth \
  xterm

# Set up the entrypoint
COPY ./entrypoint.sh /
ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]