def gather_rosdeps(
docker_client: DockerClient,
platform: Platform,
workspace: Path,
skip_rosdep_keys: List[str] = [],
custom_script: Optional[Path] = None,
custom_data_dir: Optional[Path] = None,
) -> None:
"""
Run the rosdep Docker image, which outputs a script for dependency installation.
:param docker_client: Will be used to run the container
:param platform: The name of the image produced by `build_rosdep_image`
:param workspace: Absolute path to the colcon source workspace.
:param custom_script: Optional absolute path of a script that does custom setup for rosdep
:param custom_data_dir: Optional absolute path of a directory containing custom data for setup
:return None
"""
out_path = rosdep_install_script(platform)
logger.info('Building rosdep collector image: %s', _IMG_NAME)
docker_client.build_image(
dockerfile_name='rosdep.Dockerfile',
tag=_IMG_NAME,
)
logger.info(
'Running rosdep collector image on workspace {}'.format(workspace))
volumes = {
workspace: '/ws',
}
if custom_script:
volumes[custom_script] = CUSTOM_SETUP
if custom_data_dir:
volumes[custom_data_dir] = CUSTOM_DATA
docker_client.run_container(
image_name=_IMG_NAME,
environment={
'CUSTOM_SETUP': CUSTOM_SETUP,
'OUT_PATH': str(out_path),
'OWNER_USER': str(os.getuid()),
'ROSDISTRO': platform.ros_distro,
'SKIP_ROSDEP_KEYS': ' '.join(skip_rosdep_keys),
'COLCON_DEFAULTS_FILE': 'defaults.yaml',
'TARGET_OS': '{}:{}'.format(platform.os_name, platform.os_distro),
},
volumes=volumes,
)
def run_emulated_docker_build(docker_client: DockerClient, platform: Platform,
workspace_path: Path) -> None:
"""
Spin up a sysroot docker container and run an emulated build inside.
:param docker_client: Preconfigured to run Docker images.
:param platform: Information about the target platform.
:param workspace: Absolute path to the user's source workspace.
"""
docker_client.run_container(
image_name=platform.sysroot_image_tag,
environment={
'OWNER_USER': str(os.getuid()),
'ROS_DISTRO': platform.ros_distro,
'TARGET_ARCH': platform.arch,
},
volumes={
workspace_path: '/ros_ws',
},
)
