def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(description="Run the 'devel' job")
add_argument_rosdistro_index_url(parser, required=True)
add_argument_rosdistro_name(parser)
add_argument_build_name(parser, 'source')
add_argument_repository_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_custom_rosdep_urls(parser)
parser.add_argument('--prerelease-overlay',
action='store_true',
help='Operate on two catkin workspaces')
add_argument_env_vars(parser)
add_argument_dockerfile_dir(parser)
args = parser.parse_args(argv)
data = copy.deepcopy(args.__dict__)
data.update({
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'custom_rosdep_urls':
args.custom_rosdep_urls,
'uid':
get_user_id(),
})
create_dockerfile('devel/devel_create_tasks.Dockerfile.em', data,
args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(description="Run the 'CI' job")
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_build_tool(parser, required=True)
add_argument_distribution_repository_key_files(parser)
add_argument_distribution_repository_urls(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
add_argument_install_packages(parser)
a1 = add_argument_package_selection_args(parser)
a2 = add_argument_build_tool_args(parser)
add_argument_repos_file_urls(parser)
add_argument_repository_names(parser, optional=True)
add_argument_ros_version(parser)
add_argument_skip_rosdep_keys(parser)
add_argument_test_branch(parser)
parser.add_argument(
'--workspace-mount-point',
nargs='*',
help='Locations within the docker image where the workspace(s) '
'will be mounted when the docker image is run.')
remainder_args = extract_multiple_remainders(argv, (a1, a2))
args = parser.parse_args(argv)
for k, v in remainder_args.items():
setattr(args, k, v)
assert args.repos_file_urls or args.repository_names
data = copy.deepcopy(args.__dict__)
data.update({
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'uid':
get_user_id(),
})
create_dockerfile('ci/ci_create_tasks.Dockerfile.em', data,
args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Run the 'devel' job")
add_argument_rosdistro_index_url(parser, required=True)
add_argument_rosdistro_name(parser)
add_argument_build_name(parser, 'source')
add_argument_repository_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_custom_rosdep_urls(parser)
parser.add_argument(
'--prerelease-overlay',
action='store_true',
help='Operate on two catkin workspaces')
add_argument_build_tool(parser, required=True)
add_argument_custom_rosdep_update_options(parser)
add_argument_ros_version(parser)
add_argument_env_vars(parser)
add_argument_dockerfile_dir(parser)
add_argument_run_abichecker(parser)
add_argument_require_gpu_support(parser)
a1 = add_argument_build_tool_args(parser)
a2 = add_argument_build_tool_test_args(parser)
remainder_args = extract_multiple_remainders(argv, (a1, a2))
args = parser.parse_args(argv)
for k, v in remainder_args.items():
setattr(args, k, v)
data = copy.deepcopy(args.__dict__)
data.update({
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'custom_rosdep_urls': args.custom_rosdep_urls,
'rosdep_update_options': args.custom_rosdep_update_options,
'uid': get_user_id(),
})
create_dockerfile(
'devel/devel_create_tasks.Dockerfile.em', data, args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(description="Run the 'binarypkg' job")
add_argument_rosdistro_index_url(parser, required=True)
add_argument_rosdistro_name(parser)
add_argument_package_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_target_repository(parser)
add_argument_dockerfile_dir(parser)
add_argument_skip_download_sourcepkg(parser)
add_argument_append_timestamp(parser)
add_argument_env_vars(parser)
add_argument_binarypkg_dir(parser)
args = parser.parse_args(argv)
data = copy.deepcopy(args.__dict__)
data.update({
'uid':
get_user_id(),
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'target_repository':
os.path.join(args.target_repository, args.os_code_name, 'SRPMS'),
'skip_download_sourcepkg':
args.skip_download_sourcepkg,
'sourcepkg_dir':
os.path.join(args.binarypkg_dir, 'source'),
'build_environment_variables':
args.env_vars,
})
create_dockerfile('release/rpm/binarypkg_task.Dockerfile.em', data,
args.dockerfile_dir)
with open(os.path.join(args.dockerfile_dir, 'mock_config.cfg'),
'w') as mock_cfg:
mock_cfg.write(expand_template('release/rpm/mock_config.cfg.em', data))
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(description="Run the 'binarydeb' job")
add_argument_rosdistro_index_url(parser, required=True)
add_argument_rosdistro_name(parser)
add_argument_package_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_target_repository(parser)
add_argument_binarypkg_dir(parser)
add_argument_dockerfile_dir(parser)
add_argument_skip_download_sourcepkg(parser)
add_argument_append_timestamp(parser)
add_argument_env_vars(parser)
args = parser.parse_args(argv)
data = copy.deepcopy(args.__dict__)
data.update({
'uid':
get_user_id(),
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'target_repository':
args.target_repository,
'skip_download_sourcepkg':
args.skip_download_sourcepkg,
'binarypkg_dir':
'/tmp/binarydeb',
'build_environment_variables':
args.env_vars,
'dockerfile_dir':
'/tmp/docker_build_binarydeb',
})
create_dockerfile('release/deb/binarypkg_create_task.Dockerfile.em', data,
args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for building the binarydeb")
add_argument_rosdistro_index_url(parser)
add_argument_rosdistro_name(parser)
add_argument_package_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_binarydeb_dir(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
args = parser.parse_args(argv)
debian_package_name = get_debian_package_name(
args.rosdistro_name, args.package_name)
# get expected package version from rosdistro
index = get_index(args.rosdistro_index_url)
dist_file = get_distribution_file(index, args.rosdistro_name)
assert args.package_name in dist_file.release_packages
pkg = dist_file.release_packages[args.package_name]
repo = dist_file.repositories[pkg.repository_name]
package_version = repo.release_repository.version
debian_package_version = package_version
# build_binarydeb dependencies
debian_pkg_names = ['apt-src']
# add build dependencies from .dsc file
dsc_file = get_dsc_file(
args.binarydeb_dir, debian_package_name, debian_package_version)
debian_pkg_names += sorted(get_build_depends(dsc_file))
# get versions for build dependencies
apt_cache = Cache()
debian_pkg_versions = get_binary_package_versions(
apt_cache, debian_pkg_names)
# generate Dockerfile
data = {
'os_name': args.os_name,
'os_code_name': args.os_code_name,
'arch': args.arch,
'uid': get_user_id(),
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'build_environment_variables': args.env_vars,
'dependencies': debian_pkg_names,
'dependency_versions': debian_pkg_versions,
'install_lists': [],
'rosdistro_name': args.rosdistro_name,
'package_name': args.package_name,
'binarydeb_dir': args.binarydeb_dir,
}
create_dockerfile(
'release/binarydeb_task.Dockerfile.em', data, args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
print(' -v %s:/tmp/binarydeb' % args.binarydeb_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the CI job")
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_distribution_repository_urls(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
add_argument_package_selection_args(parser)
add_argument_repos_file_urls(parser)
add_argument_repository_names(parser, optional=True)
add_argument_skip_rosdep_keys(parser)
add_argument_test_branch(parser)
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
args = parser.parse_args(argv)
assert args.repos_file_urls or args.repository_names
debian_pkg_names = [
'git',
'python3-apt',
'python3-colcon-metadata',
'python3-colcon-package-information',
'python3-colcon-package-selection',
'python3-colcon-recursive-crawl',
'python3-colcon-ros',
'python3-rosdep',
'python3-vcstool',
]
# get versions for build dependencies
apt_cache = Cache()
debian_pkg_versions = get_binary_package_versions(apt_cache,
debian_pkg_names)
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'custom_rosdep_urls': [],
'uid':
get_user_id(),
'build_environment_variables':
['%s=%s' % key_value for key_value in args.env_vars.items()],
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'repos_file_urls':
args.repos_file_urls,
'repository_names':
args.repository_names,
'test_branch':
args.test_branch,
'skip_rosdep_keys':
args.skip_rosdep_keys,
'package_selection_args':
args.package_selection_args,
'workspace_root':
args.workspace_root,
}
create_dockerfile('ci/create_workspace.Dockerfile.em', data,
args.dockerfile_dir)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the CI job")
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_build_tool(parser, required=True)
add_argument_build_tool_args(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_distribution_repository_urls(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
add_argument_install_packages(parser)
add_argument_ros_version(parser)
add_argument_testing(parser)
parser.add_argument(
'--workspace-root', nargs='*',
action=check_len_action(1, 2),
help='The root path of the workspace to compile')
args = parser.parse_args(argv)
apt_cache = Cache()
debian_pkg_names = set(['build-essential'])
debian_pkg_names.update(args.install_packages)
if args.build_tool == 'colcon':
debian_pkg_names.update([
'python3-catkin-pkg-modules',
'python3-colcon-output',
'python3-colcon-parallel-executor',
'python3-colcon-ros',
'python3-colcon-test-result',
'python3-rosdistro-modules',
])
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
install_list = 'install_list.txt'
write_install_list(
os.path.join(args.dockerfile_dir, install_list),
debian_pkg_names, apt_cache)
install_lists = [install_list, 'install_list_build.txt']
if args.testing:
install_lists.append('install_list_test.txt')
# generate Dockerfile
data = {
'os_name': args.os_name,
'os_code_name': args.os_code_name,
'arch': args.arch,
'distribution_repository_urls': args.distribution_repository_urls,
'distribution_repository_keys': get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name': args.rosdistro_name,
'uid': get_user_id(),
'build_tool': args.build_tool,
'build_tool_args': args.build_tool_args,
'ros_version': args.ros_version,
'build_environment_variables': args.env_vars,
'install_lists': install_lists,
'dependencies': [],
'dependency_versions': [],
'testing': args.testing,
'prerelease_overlay': len(args.workspace_root) > 1,
}
create_dockerfile(
'devel/devel_task.Dockerfile.em', data, args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
if len(args.workspace_root) == 1:
print(' -v %s:/tmp/ws' % args.workspace_root[0])
else:
for i, workspace_root in enumerate(args.workspace_root[0:-1]):
print(' -v %s:/tmp/ws%s' % (workspace_root, i or ''))
print(' -v %s:/tmp/ws_overlay' % args.workspace_root[-1])
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the devel job")
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
parser.add_argument('--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument('--os-code-name',
required=True,
help="The OS code name (e.g. 'xenial')")
parser.add_argument('--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_build_tool(parser, required=True)
add_argument_ros_version(parser)
add_argument_env_vars(parser)
add_argument_dockerfile_dir(parser)
add_argument_run_abichecker(parser)
add_argument_require_gpu_support(parser)
a1 = add_argument_build_tool_args(parser)
a2 = add_argument_build_tool_test_args(parser)
parser.add_argument(
'--testing',
action='store_true',
help='The flag if the workspace should be built with tests enabled '
'and instead of installing the tests are ran')
remainder_args = extract_multiple_remainders(argv, (a1, a2))
args = parser.parse_args(argv)
for k, v in remainder_args.items():
setattr(args, k, v)
condition_context = dict(args.env_vars)
condition_context['ROS_DISTRO'] = args.rosdistro_name
condition_context['ROS_VERSION'] = args.ros_version
# get direct build dependencies
pkgs = get_packages_in_workspaces(args.workspace_root, condition_context)
pkg_names = [pkg.name for pkg in pkgs.values()]
print("Found the following packages:")
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'python3',
]
if args.build_tool == 'colcon':
debian_pkg_names += [
'python3-colcon-metadata',
'python3-colcon-output',
'python3-colcon-parallel-executor',
'python3-colcon-ros',
'python3-colcon-test-result',
]
elif 'catkin' not in pkg_names:
debian_pkg_names += resolve_names(['catkin'], **context)
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build dependencies and map them to binary packages
build_depends = get_dependencies(
pkgs.values(), 'build', _get_build_and_recursive_run_dependencies)
debian_pkg_names_building = resolve_names(build_depends, **context)
debian_pkg_names_building -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_building)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names))
# get run and test dependencies and map them to binary packages
run_and_test_depends = get_dependencies(pkgs.values(), 'run and test',
_get_run_and_test_dependencies)
debian_pkg_names_testing = resolve_names(run_and_test_depends, **context)
# all additional run/test dependencies
# are added after the build dependencies
# in order to reuse existing images in the docker container
debian_pkg_names_testing -= set(debian_pkg_names)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names_testing))
if args.testing:
debian_pkg_names += order_dependencies(debian_pkg_names_testing)
mapped_workspaces = [
(workspace_root, '/tmp/ws%s' % (index if index > 1 else ''))
for index, workspace_root in enumerate(args.workspace_root, 1)
]
parent_result_space = []
if len(args.workspace_root) > 1:
parent_result_space = ['/opt/ros/%s' % args.rosdistro_name] + \
[mapping[1] for mapping in mapped_workspaces[:-1]]
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'uid':
get_user_id(),
'build_tool':
args.build_tool,
'build_tool_args':
args.build_tool_args,
'build_tool_test_args':
args.build_tool_test_args,
'ros_version':
args.ros_version,
'build_environment_variables':
['%s=%s' % key_value for key_value in args.env_vars.items()],
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'install_lists': [],
'testing':
args.testing,
'run_abichecker':
args.run_abichecker,
'require_gpu_support':
args.require_gpu_support,
'workspace_root':
mapped_workspaces[-1][1],
'parent_result_space':
parent_result_space,
}
create_dockerfile('devel/devel_task.Dockerfile.em', data,
args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
for mapping in mapped_workspaces:
print(' -v %s:%s' % mapping)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the CI job")
# Positional
add_argument_rosdistro_name(parser)
add_argument_os_name(parser)
add_argument_os_code_name(parser)
add_argument_arch(parser)
add_argument_build_tool(parser, required=True)
a1 = add_argument_build_tool_args(parser)
a2 = add_argument_build_tool_test_args(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_distribution_repository_urls(parser)
add_argument_dockerfile_dir(parser)
add_argument_env_vars(parser)
add_argument_install_packages(parser)
add_argument_ros_version(parser)
add_argument_run_abichecker(parser)
add_argument_require_gpu_support(parser)
add_argument_testing(parser)
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
remainder_args = extract_multiple_remainders(argv, (a1, a2))
args = parser.parse_args(argv)
for k, v in remainder_args.items():
setattr(args, k, v)
apt_cache = Cache()
debian_pkg_names = set(['build-essential'])
debian_pkg_names.update(args.install_packages)
if args.build_tool == 'colcon':
debian_pkg_names.update([
'python3-catkin-pkg-modules',
'python3-colcon-metadata',
'python3-colcon-output',
'python3-colcon-package-selection',
'python3-colcon-parallel-executor',
'python3-colcon-ros',
'python3-colcon-test-result',
'python3-rosdistro-modules',
])
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
install_list = 'install_list.txt'
write_install_list(os.path.join(args.dockerfile_dir, install_list),
debian_pkg_names, apt_cache)
install_lists = [install_list, 'install_list_build.txt']
if args.testing:
install_lists.append('install_list_test.txt')
mapped_workspaces = [
(workspace_root, '/tmp/ws%s' % (index if index > 1 else ''))
for index, workspace_root in enumerate(args.workspace_root, 1)
]
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'uid':
get_user_id(),
'build_tool':
args.build_tool,
'build_tool_args':
args.build_tool_args,
'build_tool_test_args':
args.build_tool_test_args,
'ros_version':
args.ros_version,
'build_environment_variables':
['%s=%s' % key_value for key_value in args.env_vars.items()],
'install_lists':
install_lists,
'dependencies': [],
'dependency_versions': [],
'testing':
args.testing,
'run_abichecker':
args.run_abichecker,
'require_gpu_support':
args.require_gpu_support,
'workspace_root':
mapped_workspaces[-1][1],
'parent_result_space':
[mapping[1] for mapping in mapped_workspaces[:-1]],
}
create_dockerfile('devel/devel_task.Dockerfile.em', data,
args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
for mapping in mapped_workspaces:
print(' -v %s:%s' % mapping)
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description="Generate a 'Dockerfile' for the devel job")
parser.add_argument(
'--rosdistro-name',
required=True,
help='The name of the ROS distro to identify the setup file to be '
'sourced')
parser.add_argument('--workspace-root',
nargs='+',
help='The root path of the workspace to compile')
parser.add_argument('--os-name',
required=True,
help="The OS name (e.g. 'ubuntu')")
parser.add_argument('--os-code-name',
required=True,
help="The OS code name (e.g. 'xenial')")
parser.add_argument('--arch',
required=True,
help="The architecture (e.g. 'amd64')")
add_argument_distribution_repository_urls(parser)
add_argument_distribution_repository_key_files(parser)
add_argument_build_tool(parser, required=True)
add_argument_ros_version(parser)
add_argument_env_vars(parser)
add_argument_dockerfile_dir(parser)
parser.add_argument(
'--testing',
action='store_true',
help='The flag if the workspace should be built with tests enabled '
'and instead of installing the tests are ran')
args = parser.parse_args(argv)
# get direct build dependencies
pkgs = {}
for workspace_root in args.workspace_root:
source_space = os.path.join(workspace_root, 'src')
print("Crawling for packages in workspace '%s'" % source_space)
pkgs.update(find_packages(source_space))
pkg_names = [pkg.name for pkg in pkgs.values()]
print("Found the following packages:")
for pkg_name in sorted(pkg_names):
print(' -', pkg_name)
maintainer_emails = set([])
for pkg in pkgs.values():
for m in pkg.maintainers:
maintainer_emails.add(m.email)
if maintainer_emails:
print('Package maintainer emails: %s' %
' '.join(sorted(maintainer_emails)))
context = initialize_resolver(args.rosdistro_name, args.os_name,
args.os_code_name)
apt_cache = Cache()
debian_pkg_names = [
'build-essential',
'python3',
]
if args.build_tool == 'colcon':
debian_pkg_names += [
'python3-colcon-ros',
'python3-colcon-test-result',
]
elif 'catkin' not in pkg_names:
debian_pkg_names += resolve_names(['catkin'], **context)
print('Always install the following generic dependencies:')
for debian_pkg_name in sorted(debian_pkg_names):
print(' -', debian_pkg_name)
debian_pkg_versions = {}
# get build dependencies and map them to binary packages
build_depends = get_dependencies(
pkgs.values(), 'build', _get_build_and_recursive_run_dependencies)
debian_pkg_names_building = resolve_names(build_depends, **context)
debian_pkg_names_building -= set(debian_pkg_names)
debian_pkg_names += order_dependencies(debian_pkg_names_building)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names))
# get run and test dependencies and map them to binary packages
run_and_test_depends = get_dependencies(pkgs.values(), 'run and test',
_get_run_and_test_dependencies)
debian_pkg_names_testing = resolve_names(run_and_test_depends, **context)
# all additional run/test dependencies
# are added after the build dependencies
# in order to reuse existing images in the docker container
debian_pkg_names_testing -= set(debian_pkg_names)
debian_pkg_versions.update(
get_binary_package_versions(apt_cache, debian_pkg_names_testing))
if args.testing:
debian_pkg_names += order_dependencies(debian_pkg_names_testing)
# generate Dockerfile
data = {
'os_name':
args.os_name,
'os_code_name':
args.os_code_name,
'arch':
args.arch,
'distribution_repository_urls':
args.distribution_repository_urls,
'distribution_repository_keys':
get_distribution_repository_keys(
args.distribution_repository_urls,
args.distribution_repository_key_files),
'rosdistro_name':
args.rosdistro_name,
'uid':
get_user_id(),
'build_tool':
args.build_tool,
'ros_version':
args.ros_version,
'build_environment_variables':
args.env_vars,
'dependencies':
debian_pkg_names,
'dependency_versions':
debian_pkg_versions,
'testing':
args.testing,
'prerelease_overlay':
len(args.workspace_root) > 1,
}
create_dockerfile('devel/devel_task.Dockerfile.em', data,
args.dockerfile_dir)
# output hints about necessary volumes to mount
ros_buildfarm_basepath = os.path.normpath(
os.path.join(os.path.dirname(__file__), '..', '..'))
print('Mount the following volumes when running the container:')
print(' -v %s:/tmp/ros_buildfarm:ro' % ros_buildfarm_basepath)
print(' -v %s:/tmp/ws' % args.workspace_root[-1])
