Update Docker cross-build Image (autowarefoundation#2270)

* Adding missing folder for OGRE in Docker crossbuild. Signed-off-by: Joshua Whitley <[email protected]> * Adding missing depends to Dockerfile.kinetic-crossbuild. Signed-off-by: Joshua Whitley <[email protected]> * Moves dependencies file up a level and builds in that folder. Signed-off-by: Joshua Whitley <[email protected]> * Fixing locations of files in Docker generic. Signed-off-by: Joshua Whitley <[email protected]> * Updated path and date for new image (autowarefoundation#14) * Updated date for cross image Signed-off-by: sgermanserrano <[email protected]> * Updated path for FindCUDA file Signed-off-by: sgermanserrano <[email protected]>
luanjinlu · May 22, 2019 · b734f19 · b734f19
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commit b734f19
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Showing 7 changed files with 25 additions and 99 deletions.
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -84,7 +84,7 @@ build_cross:
     - docker:dind
   variables:
     ROS_DISTRO: kinetic
-    AUTOWARE_DOCKER_DATE: 20190211
+    AUTOWARE_DOCKER_DATE: 20190521
     AUTOWARE_HOME: $CI_PROJECT_DIR
     AUTOWARE_TARGET_ARCH: aarch64
     AUTOWARE_TARGET_PLATFORM: generic-aarch64

diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild b/docker/crossbuild/Dockerfile.kinetic-crossbuild
@@ -2,7 +2,7 @@ ARG AUTOWARE_DOCKER_ARCH
 ARG AUTOWARE_TARGET_ARCH
 FROM multiarch/alpine:${AUTOWARE_TARGET_ARCH}-latest-stable AS bootstrap
 
-FROM ${AUTOWARE_DOCKER_ARCH}/ubuntu:16.04 AS sysroot
+FROM ${AUTOWARE_DOCKER_ARCH}/ros:kinetic-perception AS sysroot
 ARG AUTOWARE_TARGET_ARCH
 
 COPY --from=bootstrap /usr/bin/qemu-${AUTOWARE_TARGET_ARCH}-static /usr/bin/qemu-${AUTOWARE_TARGET_ARCH}-static
@@ -16,103 +16,22 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python-rosdep \
     sudo
 
+# Install ROS packages used by Autoware
+COPY ./dependencies /tmp/dependencies
+RUN apt-get update && \
+    sed "s/\$ROS_DISTRO/$ROS_DISTRO/g" "/tmp/dependencies" | xargs apt-get install -y
+
 # Autoware dependencies
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    freeglut3-dev \
+RUN apt-get install -y --no-install-recommends \
     libarmadillo-dev \
-    libcurl4-openssl-dev \
-    libeigen3-dev \
     libgflags-dev \
-    libgl1-mesa-dev \
     libglew-dev \
-    libglu1-mesa-dev \
     libgoogle-glog-dev \
-    libgtest-dev \
     libnlopt-dev \
     libopencv-dev \
-    libpcap0.8-dev \
-    libpcl-dev \
-    libpcl1.7 \
-    libqt5core5a \
-    libqt5gui5 \
-    libqt5opengl5 \
-    libqt5opengl5-dev \
-    libqt5widgets5 \
     libssh2-1 \
-    libtinyxml-dev \
-    libx11-dev \
-    libxi-dev \
-    libxml2-dev \
-    libxmu-dev \
-    libyaml-cpp-dev \
-    python-flask \
-    python-serial \
-    qtbase5-dev \
-    ros-kinetic-angles \
-    ros-kinetic-automotive-platform-msgs \
-    ros-kinetic-camera-info-manager \
-    ros-kinetic-catkin \
-    ros-kinetic-cmake-modules \
-    ros-kinetic-cv-bridge \
-    ros-kinetic-diagnostic-msgs \
-    ros-kinetic-diagnostic-updater \
-    ros-kinetic-dynamic-reconfigure \
-    ros-kinetic-geometry-msgs \
-    ros-kinetic-gps-common \
-    ros-kinetic-grid-map-cv \
-    ros-kinetic-grid-map-msgs \
-    ros-kinetic-grid-map-ros \
-    ros-kinetic-image-geometry \
-    ros-kinetic-image-transport \
-    ros-kinetic-imu-filter-madgwick \
-    ros-kinetic-imu-tools \
-    ros-kinetic-jsk-recognition-msgs \
-    ros-kinetic-jsk-rviz-plugins \
-    ros-kinetic-message-filters \
-    ros-kinetic-message-generation \
-    ros-kinetic-message-runtime \
-    ros-kinetic-nav-msgs \
-    ros-kinetic-nlopt \
-    ros-kinetic-nmea-msgs \
-    ros-kinetic-nodelet \
-    ros-kinetic-pcl-conversions \
-    ros-kinetic-pcl-msgs \
-    ros-kinetic-pcl-ros \
-    ros-kinetic-pluginlib \
-    ros-kinetic-rosconsole \
-    ros-kinetic-roscpp \
-    ros-kinetic-roslaunch \
-    ros-kinetic-roslib \
-    ros-kinetic-roslint \
-    ros-kinetic-rospy \
-    ros-kinetic-rostest \
-    ros-kinetic-rosunit \
-    ros-kinetic-rqt-plot \
-    ros-kinetic-rviz \
-    ros-kinetic-sensor-msgs \
-    ros-kinetic-shape-msgs \
-    ros-kinetic-sound-play \
-    ros-kinetic-std-msgs \
-    ros-kinetic-std-srvs \
-    ros-kinetic-stereo-msgs \
-    ros-kinetic-tf \
-    ros-kinetic-tf2 \
-    ros-kinetic-tf2-ros \
-    ros-kinetic-visualization-msgs \
-    ros-kinetic-xacro \
-    ros-kinetic-rosbridge-server \
-    ros-kinetic-gazebo-ros \ 
-    ros-kinetic-gazebo-msgs \ 
-    ros-kinetic-gazebo-ros-control \ 
-    ros-kinetic-urdf \ 
-    ros-kinetic-xacro \ 
-    ros-kinetic-position-controllers \ 
-    ros-kinetic-transmission-interface \ 
-    ros-kinetic-velocity-controllers \ 
-    ros-kinetic-effort-controllers \ 
-    ros-kinetic-controller-manager \
-    ros-kinetic-robot-state-publisher \
-    ros-kinetic-joint-state-controller
+    python-flask && \
+    rm -rf /var/lib/apt/lists/*
 
 RUN find / -depth -xdev -type l -lname '/*' -exec sh -c 'linkpath="$(readlink {})" && rm -f {} && ln -frsv "$linkpath" "{}"' \;
 
@@ -123,6 +42,7 @@ ENV AUTOWARE_SYSROOT /sysroot/${AUTOWARE_TARGET_PLATFORM}
 COPY --from=sysroot /lib ${AUTOWARE_SYSROOT}/lib
 COPY --from=sysroot /usr/include ${AUTOWARE_SYSROOT}/usr/include
 COPY --from=sysroot /usr/lib ${AUTOWARE_SYSROOT}/usr/lib
+COPY --from=sysroot /usr/share/OGRE ${AUTOWARE_SYSROOT}/usr/share/OGRE
 COPY --from=sysroot /usr/share/pkgconfig ${AUTOWARE_SYSROOT}/usr/share/pkgconfig
 COPY --from=sysroot /opt ${AUTOWARE_SYSROOT}/opt
 COPY --from=sysroot /etc/alternatives ${AUTOWARE_SYSROOT}/etc/alternatives

diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks b/docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks
@@ -4,5 +4,5 @@ ARG AUTOWARE_TARGET_PLATFORM
 FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190102
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential
-COPY files/FindCUDA.cmake /usr/share/cmake-3.5/Modules/FindCUDA.cmake
+COPY crossbuild/files/FindCUDA.cmake /usr/share/cmake-3.5/Modules/FindCUDA.cmake
 CMD . /opt/ros/kinetic/setup.sh && /bin/bash
diff --git a/docker/crossbuild/build_cross_image.sh b/docker/crossbuild/build_cross_image.sh
@@ -5,29 +5,32 @@ if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch6
 then
     # Once we support for targets, change this to the appropriate Docker image
     AUTOWARE_DOCKER_ARCH=arm64v8
-    AUTOWARE_DOCKER_DATE=20190102
+    AUTOWARE_DOCKER_DATE=20190521
     AUTOWARE_TARGET_ARCH=aarch64
     AUTOWARE_TARGET_PLATFORM=$1
 
     echo "Using ${AUTOWARE_TARGET_PLATFORM} as the target architecture"
     # Register QEMU as a handler for non-x86 targets
     docker container run --rm --privileged multiarch/qemu-user-static:register
 
+    # Move up a level to include the dependencies file in the build context
+    cd ..
+
     # Build Docker Image
     docker image build \
         --build-arg AUTOWARE_DOCKER_ARCH=${AUTOWARE_DOCKER_ARCH} \
         --build-arg AUTOWARE_TARGET_ARCH=${AUTOWARE_TARGET_ARCH} \
         --build-arg AUTOWARE_TARGET_PLATFORM=${AUTOWARE_TARGET_PLATFORM} \
         -t autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \
-        -f Dockerfile.kinetic-crossbuild .
+        -f crossbuild/Dockerfile.kinetic-crossbuild .
     if [ "$AUTOWARE_TARGET_PLATFORM" = "driveworks" ]
     then
         docker image build \
         --build-arg AUTOWARE_DOCKER_ARCH=${AUTOWARE_DOCKER_ARCH} \
         --build-arg AUTOWARE_TARGET_ARCH=${AUTOWARE_TARGET_ARCH} \
         --build-arg AUTOWARE_TARGET_PLATFORM=${AUTOWARE_TARGET_PLATFORM} \
         -t autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \
-        -f Dockerfile.kinetic-crossbuild-driveworks .
+        -f crossbuild/Dockerfile.kinetic-crossbuild-driveworks .
     fi
 
     # Deregister QEMU as a handler for non-x86 targets

diff --git a/docker/generic/dependencies → docker/dependencies b/docker/generic/dependencies → docker/dependencies
diff --git a/docker/generic/Dockerfile.base b/docker/generic/Dockerfile.base
@@ -79,7 +79,7 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/profile.d/ros.sh && \
 #
 # Install ROS packages used by Autoware
 #
-COPY ./docker/generic/dependencies /tmp/dependencies
+COPY ./docker/dependencies /tmp/dependencies
 RUN apt-get update && \
     sed "s/\$ROS_DISTRO/$ROS_DISTRO/g" "/tmp/dependencies" | xargs apt-get install -y && \
     rm -rf /var/lib/apt/lists/* 

diff --git a/docker/generic/build.sh b/docker/generic/build.sh
@@ -75,11 +75,14 @@ echo -e "\tBase only: $BASE_ONLY"
 
 BASE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO-base
 
+# Move up a level to include the dependencies file in the build context
+cd ..
+
 docker build \
     --rm \
     --tag $BASE \
     --build-arg ROS_DISTRO=$ROS_DISTRO \
-    --file Dockerfile.base ./../..
+    --file generic/Dockerfile.base ./..
 
 CUDA_SUFFIX=""
 if [ $CUDA == "on" ]; then
@@ -88,7 +91,7 @@ if [ $CUDA == "on" ]; then
         --rm \
         --tag $BASE$CUDA_SUFFIX \
         --build-arg FROM_ARG=$BASE \
-        --file Dockerfile.cuda .
+        --file generic/Dockerfile.cuda ./generic
 fi
 
 if [ "$BASE_ONLY" == "true" ]; then
@@ -101,4 +104,4 @@ docker build \
     --tag $IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$CUDA_SUFFIX \
     --build-arg FROM_ARG=$BASE$CUDA_SUFFIX \
     --build-arg ROS_DISTRO=$ROS_DISTRO \
-    --file Dockerfile ./../..
+    --file generic/Dockerfile ./..