distro.Dockerfile

# syntax=docker/dockerfile:experimental

# Use experimental buildkit for faster builds
# https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md
# Use `--progress=plain` to use plane stdout for docker build
#
# Example build command:
# export DOCKER_BUILDKIT=1
# export FROM_IMAGE="ros:rolling"
# export OVERLAY_MIXINS="release ccache lld"
# docker build -t nav2:rolling \
#   --build-arg FROM_IMAGE \
#   --build-arg OVERLAY_MIXINS \
#   -f distro.Dockerfile ../

ARG FROM_IMAGE=ros:rolling
ARG OVERLAY_WS=/opt/overlay_ws

# multi-stage for caching
FROM $FROM_IMAGE AS cacher

# copy overlay source
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS/src
RUN echo "\
repositories: \n\
  ros-planning/navigation2: \n\
    type: git \n\
    url: https://github.com/ros-planning/navigation2.git \n\
    version: ${ROS_DISTRO}-devel \n\
" > ../overlay.repos
RUN vcs import ./ < ../overlay.repos && \
    find ./ -name ".git" | xargs rm -rf
# COPY ./ ./ros-planning/navigation2

# copy manifests for caching
WORKDIR /opt
RUN mkdir -p /tmp/opt && \
    find ./ -name "package.xml" | \
      xargs cp --parents -t /tmp/opt && \
    find ./ -name "COLCON_IGNORE" | \
      xargs cp --parents -t /tmp/opt || true

# multi-stage for building
FROM $FROM_IMAGE AS builder
ARG DEBIAN_FRONTEND=noninteractive

# edit apt for caching
RUN cp /etc/apt/apt.conf.d/docker-clean /etc/apt/ && \
    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' \
      > /etc/apt/apt.conf.d/docker-clean

# install CI dependencies
RUN --mount=type=cache,target=/var/cache/apt \
    --mount=type=cache,target=/var/lib/apt \
    apt-get update && apt-get install -q -y \
      ccache \
      lcov \
      lld \
    && rosdep update

# install overlay dependencies
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
RUN --mount=type=cache,target=/var/cache/apt \
    --mount=type=cache,target=/var/lib/apt \
    . /opt/ros/$ROS_DISTRO/setup.sh && \
    apt-get update && rosdep install -q -y \
      --from-paths src \
      --ignore-src \
    && rm -rf /var/lib/apt/lists/*

# build overlay source
COPY --from=cacher $OVERLAY_WS/src ./src
ARG OVERLAY_MIXINS="release ccache lld"
RUN --mount=type=cache,target=/root/.ccache \
    . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --symlink-install \
      --mixin $OVERLAY_MIXINS

# restore apt for docker
RUN mv /etc/apt/docker-clean /etc/apt/apt.conf.d/ && \
    rm -rf /var/lib/apt/lists/

# source overlay from entrypoint
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place \
      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
      /ros_entrypoint.sh

# test overlay build
ARG RUN_TESTS
ARG FAIL_ON_TEST_FAILURE=True
RUN if [ -n "$RUN_TESTS" ]; then \
        . install/setup.sh && \
        colcon test && \
        colcon test-result \
          || ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
    fi