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Add humbleRPI image
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‎DockerfileHumbleRPI‎

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ARG image_base=arm64v8/ros:humble
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ARG registry=registry.klepsydra.io/repository
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ARG board=amd64
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ARG osrelease=jammy
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FROM $image_base as system_dep
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ENV TZ 'Europe/Madrid'
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ENV LC_ALL en_US.UTF-8
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ENV LANG en_US.UTF-8
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ENV LANGUAGE en_US.UTF-8
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ENV DEBIAN_FRONTEND=noninteractive
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RUN groupadd --gid 10000 kpsruser && \
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useradd --uid 10000 --gid kpsruser --shell /bin/bash --create-home kpsruser && \
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usermod -aG sudo kpsruser && \
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echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
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RUN apt update && apt-get -y install openssh-client
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RUN mkdir -p -m 0700 ~/.ssh
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RUN ssh-keyscan github.com >> ~/.ssh/known_hosts
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ENV BUILD_MODE=Release
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ARG OPENSSLVERSION="OpenSSL_1_1_1i"
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RUN git clone https://github.com/openssl/openssl.git && \
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cd openssl && git checkout ${OPENSSLVERSION} && \
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./config -fPIC shared && \
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make -j$(nproc) && \
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make install && \
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cd ../ && rm -rf openssl
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RUN apt-get -y install libtool
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ARG PROTOBUFVERSION="v3.19.0"
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RUN git clone https://github.com/protocolbuffers/protobuf.git && \
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cd protobuf && \
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git checkout ${PROTOBUFVERSION} && \
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git submodule update --init --recursive && \
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./autogen.sh && ./configure && \
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make -j$(nproc) && \
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sudo make install && ldconfig && \
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cd ../../ && \
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rm -rf protobuf
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ARG EIGENVERSION="3.4.0"
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RUN git clone https://gitlab.com/libeigen/eigen.git && \
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cd eigen && \
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git checkout ${EIGENVERSION} && \
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mkdir build && cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release ../ && \
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make -j$(nproc) && \
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sudo make install && \
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cd ../../ && \
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rm -rf eigen
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ARG OPENCVVERSION="3.4.17"
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RUN git clone https://github.com/opencv/opencv.git && \
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cd opencv && \
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git checkout ${OPENCVVERSION} && \
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mkdir build && cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DINSTALL_TESTS=OFF -DINSTALL_PYTHON_EXAMPLES=OFF -DINSTALL_C_EXAMPLES=OFF -DBUILD_opencv_apps=OFF ../ && \
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make -j$(nproc) && \
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sudo make install && \
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cd ../../ && \
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rm -rf opencv
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ARG BENCHMARKVERSION="3b3de69400164013199ea448f051d94d7fc7d81f"
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RUN git clone https://github.com/google/benchmark.git && \
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cd benchmark && \
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git checkout ${BENCHMARKVERSION} && \
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mkdir build && cd build && \
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cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release ../ && \
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make -j$(nproc) && \
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make install && \
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cd ../../ && \
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rm -rf benchmark
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ARG ZMQVERSION="v4.3.4"
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RUN git clone https://github.com/zeromq/libzmq.git && \
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cd libzmq && \
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git checkout ${ZMQVERSION} && \
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mkdir build && \
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cd build && \
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cmake ../ && \
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make -j$(nproc) && \
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make install && \
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cd ../../ && rm -rf libzmq
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ARG ZMQCPPVERSION="v4.8.0"
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RUN git clone https://github.com/zeromq/cppzmq.git && \
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cd cppzmq && \
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git checkout ${ZMQCPPVERSION} && \
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mkdir build && cd build && \
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cmake ../ && \
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make -j$(nproc) && \
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make install && \
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cd ../../ && rm -rf cppzmq
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ARG YAMLCPPVERSION="yaml-cpp-0.7.0"
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RUN git clone https://github.com/jbeder/yaml-cpp && \
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cd yaml-cpp && git checkout ${YAMLCPPVERSION} && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DYAML_CPP_BUILD_TESTS=Off ../ && \
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make -j$(nproc) && \
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make install && \
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cd ../../ && rm -rf yaml-cpp
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USER root
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WORKDIR /home/kpsruser
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RUN <<EOF
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# echo "deb https://${registry}/${board}/ ${osrelease} main" >> /etc/apt/sources.list.d/klepsydra.list
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# apt-key add /tmp/public.gpg.key
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# rm /tmp/public.gpg.key
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# apt update
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apt-get -y install python3-pip
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pip config set global.extra-index-url https://registry.klepsydra.io/repository/kpe-pypi/simple
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pip install kpsr-codegen
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EOF
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RUN mkdir -p -m 0700 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
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FROM system_dep as kpe-core
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ENV KPE_CORE_TAG=v8.0.0
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RUN --mount=type=ssh git clone --branch ${KPE_CORE_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-core
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RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
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cd /home/kpsruser/kpe-core
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# Patch to make it work.
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sed -i 's/set(_SPDLOG_VERSION "1.5")/set(_SPDLOG_VERSION "1.9.2")/g' CMakeLists.txt
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mkdir build
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cd build
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cmake -DKPSR_WITH_YAML=false -DKPSR_WITH_SOCKET=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DKPSR_WITH_ROS_HUMBLE_OR_ABOVE=true \
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-DKPSR_TEST_PERFORMANCE=false ../
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make -j
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sudo make install
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EOF
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FROM kpe-core as kpe-admin
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ENV KPE_ADMIN_TAG=v7.0.0
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RUN --mount=type=ssh git clone --branch ${KPE_ADMIN_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-admin
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RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
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#apt-get -y install libbsd-dev
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cd /home/kpsruser/kpe-admin
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sed -i '26d' modules/system/src/cpu_reader_linux.cpp
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apt-get -y install glibc
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mkdir build && cd build &&
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cmake -DKPSR_WITH_SOCKET=true -DKPSR_NO_LICENSE=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
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make -j$(nproc) &&
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sudo make install
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EOF
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FROM kpe-admin as kpe-streaming
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ENV KPE_STREAMING_VER=v11.1.0
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RUN --mount=type=ssh git clone --branch ${KPE_STREAMING_VER} --recurse-submodules git@github.com:klepsydra-technologies/kpe-streaming
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RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
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cd /home/kpsruser/kpe-streaming
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mkdir build && cd build &&
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cmake -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
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make -j$(nproc) &&
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sudo make install
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EOF
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# Install colcon, rosdep and dependencies
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FROM kpe-streaming as kpe-ros2-core
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ENV KPE_ROS2_CORE_BRANCH=humble
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RUN --mount=type=ssh git clone --branch ${KPE_ROS2_CORE_BRANCH} --recurse-submodules git@github.com:klepsydra-technologies/kpe-ros2-core.git
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ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt
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RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
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pip install -U rosdep
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rosdep init && rosdep update --include-eol-distros
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. /opt/ros/humble/local_setup.sh
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mkdir -p /home/kpsruser/kpe-ros2-core-install/src
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ln -s /home/kpsruser/kpe-ros2-core/ /home/kpsruser/kpe-ros2-core-install/src/kpe-ros2-core
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cd /home/kpsruser/kpe-ros2-core-install/
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rosdep install --from-paths src --ignore-src -r -y &&
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_MODE}
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EOF
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FROM kpe-ros2-core as reference_sytem
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ENV KPE_REF_SYSTEM=update_klepsydra_executor
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RUN --mount=type=ssh git clone --branch ${KPE_REF_SYSTEM} --recurse-submodules git@github.com:klepsydra-technologies/reference-system.git
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RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
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apt-get -y install ros-humble-ros-testing
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mkdir -p /home/kpsruser/colcon_reference-system/src
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ln -s /home/kpsruser/reference-system /home/kpsruser/colcon_reference-system/src/reference-system
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cd /home/kpsruser/colcon_reference-system/
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. /opt/ros/humble/local_setup.sh
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colcon build --cmake-args -DCMAKE_PREFIX_PATH="/home/kpsruser/kpe-ros2-core-install/install" -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DRUN_BENCHMARK=ON
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EOF
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RUN apt-get -y install ros-humble-rmw-cyclonedds-cpp
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# Necessary.
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ENV LD_LIBRARY_PATH=/home/kpsruser/kpe-ros2-core-install/install/kpsr_ros2_executor/lib:/usr/local/lib:/home/kpsruser/colcon_reference-system/install/reference_interfaces/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
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RUN sed -i 's/parallised/parallelised/g' /home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy.json
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# if this doesn't work YOU NEED TO MODIFY THE POLICY. parallised BECOMES parallelised.
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USER kpsruser
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RUN echo 'source /opt/ros/humble/setup.sh' >> /home/kpsruser/.bashrc &&
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echo 'source /home/kpsruser/colcon_reference-system/install/setup.sh' >> /home/kpsruser/.bashrc &&
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echo 'source /home/kpsruser/kpe-ros2-core-install/install/setup.sh' >> /home/kpsruser/.bashrc

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