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 create_workspace_sysroot_image(self, docker_client: DockerClient) -> str:
"""Build the target sysroot docker image and return its full name."""
image_tag = self._platform.sysroot_image_tag
logger.info('Building sysroot image: %s', image_tag)
docker_client.build_image(
dockerfile_dir=self._target_sysroot,
dockerfile_name=ROS_DOCKERFILE_NAME,
tag=image_tag,
buildargs={
'BASE_IMAGE': self._platform.target_base_image,
'ROS_WORKSPACE': self._ros_workspace_relative_to_sysroot,
'ROS_VERSION': self._platform.ros_version,
'ROS_DISTRO': self._platform.ros_distro,
'TARGET_ARCH': self._platform.arch,
}
)
logger.info('Successfully created sysroot docker image: %s', image_tag)
def create_workspace_sysroot_image(
docker_client: DockerClient,
platform: Platform,
) -> None:
"""
Create the target platform sysroot image.
:param docker_client Docker client to use for building
:param platform Information about the target platform
:param build_context Directory containing all assets needed by sysroot.Dockerfile
"""
image_tag = platform.sysroot_image_tag
logger.info('Building sysroot image: %s', image_tag)
docker_client.build_image(dockerfile_name='sysroot.Dockerfile',
tag=image_tag,
buildargs={
'BASE_IMAGE': platform.target_base_image,
'ROS_VERSION': platform.ros_version,
})
logger.info('Successfully created sysroot docker image: %s', image_tag)
