Merge pull request #39 from ika-rwth-aachen/fix-workspace

Fix workspace such that docker-ros-generated images can be used as base images for docker-ros

README.md

@@ -112,7 +112,7 @@ jobs:
   docker-ros:
     runs-on: ubuntu-latest
     steps:
-      - uses: ika-rwth-aachen/[email protected].1
+      - uses: ika-rwth-aachen/[email protected].2
         with:
           base-image: rwthika/ros2:humble
           command: ros2 run my_pkg my_node
@@ -124,7 +124,7 @@ jobs:
 
 ```yml
 include:
-  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.1/.gitlab-ci/docker-ros.yml
+  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.2/.gitlab-ci/docker-ros.yml
 
 variables:
   BASE_IMAGE: rwthika/ros2:humble
@@ -143,7 +143,7 @@ jobs:
   docker-ros:
     runs-on: ubuntu-latest
     steps:
-      - uses: ika-rwth-aachen/[email protected].1
+      - uses: ika-rwth-aachen/[email protected].2
         with:
           base-image: rwthika/ros2:humble
           command: ros2 run my_pkg my_node
@@ -156,7 +156,7 @@ jobs:
 
 ```yml
 include:
-  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.1/.gitlab-ci/docker-ros.yml
+  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.2/.gitlab-ci/docker-ros.yml
 
 variables:
   BASE_IMAGE: rwthika/ros2:humble
@@ -176,7 +176,7 @@ jobs:
   docker-ros:
     runs-on: ubuntu-latest
     steps:
-      - uses: ika-rwth-aachen/[email protected].1
+      - uses: ika-rwth-aachen/[email protected].2
         with:
           base-image: rwthika/ros2:humble
           command: ros2 run my_pkg my_node
@@ -190,7 +190,7 @@ jobs:
 
 ```yml
 include:
-  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.1/.gitlab-ci/docker-ros.yml
+  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.2/.gitlab-ci/docker-ros.yml
 
 variables:
   BASE_IMAGE: rwthika/ros2:humble
@@ -211,7 +211,7 @@ jobs:
   docker-ros:
     runs-on: ubuntu-latest
     steps:
-      - uses: ika-rwth-aachen/[email protected].1
+      - uses: ika-rwth-aachen/[email protected].2
         with:
           base-image: rwthika/ros2:humble
           command: ros2 run my_pkg my_node
@@ -224,7 +224,7 @@ jobs:
 
 ```yml
 include:
-  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.1/.gitlab-ci/docker-ros.yml
+  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/v1.6.2/.gitlab-ci/docker-ros.yml
 
 variables:
   BASE_IMAGE: rwthika/ros2:humble
@@ -248,7 +248,7 @@ jobs:
         platform: [amd64, arm64]
     runs-on: [self-hosted, "${{ matrix.platform }}"]
     steps:
-      - uses: ika-rwth-aachen/[email protected].1
+      - uses: ika-rwth-aachen/[email protected].2
         with:
           base-image: rwthika/ros2:humble
           command: ros2 run my_pkg my_node

docker/Dockerfile

@@ -86,7 +86,7 @@ RUN echo "colcon list -p --base-paths src/ --packages-select \\" >> $WORKSPACE/.
     $WORKSPACE/.remove-packages.sh 2> /dev/null | xargs rm -rf
 
 # create install script with list of rosdep dependencies
-RUN echo "set -e" >> $WORKSPACE/.install-dependencies.sh && \
+RUN echo "set -e" > $WORKSPACE/.install-dependencies.sh && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
     apt-get update && \
     rosdep init || true && \
@@ -216,6 +216,9 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
     fi \
     && rm -rf /var/lib/apt/lists/*
 
+# source ROS
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+
 # install desired ROS 2 middleware
 ARG RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
 ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
@@ -242,8 +245,12 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
         rm -rf /var/lib/apt/lists/* ; \
     fi
 
-# source ROS
-RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+# move existing install space from base image to make room for new one
+RUN if [[ -d $WORKSPACE/install ]]; then \
+        mkdir -p /opt/ws_base_image && \
+        mv $WORKSPACE/install /opt/ws_base_image/ && \
+        echo "source /opt/ws_base_image/install/setup.bash" >> ~/.bashrc ; \
+    fi
 
 # set entrypoint
 ENV TINI_VERSION=v0.19.0
@@ -267,6 +274,7 @@ FROM dev AS build
 RUN if [[ -x "$(command -v colcon)" ]]; then \
         source /opt/ros/${ROS_DISTRO}/setup.bash && \
         [[ -f /opt/ws_rmw_zenoh/install/setup.bash ]] && source /opt/ws_rmw_zenoh/install/setup.bash ; \
+        [[ -f /opt/ws_base_image/install/setup.bash ]] && source /opt/ws_base_image/install/setup.bash ; \
         colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ; \
     elif [[ -x "$(command -v catkin)" ]]; then \
         catkin config --install --extend /opt/ros/${ROS_DISTRO} && \
@@ -276,6 +284,9 @@ RUN if [[ -x "$(command -v colcon)" ]]; then \
 ############ run ###############################################################
 FROM dependencies-install AS run
 
+# remove source code, if still existing from custom.sh modifications
+RUN rm -rf $WORKSPACE/src
+
 # copy ROS install space from build stage
 COPY --from=build $WORKSPACE/install install
 RUN ldconfig

docker/entrypoint.sh

@@ -4,6 +4,7 @@ set -e
 # source ROS workspace
 source /opt/ros/$ROS_DISTRO/setup.bash
 [[ -f /opt/ws_rmw_zenoh/install/setup.bash ]] && source /opt/ws_rmw_zenoh/install/setup.bash
+[[ -f /opt/ws_base_image/install/setup.bash ]] && source /opt/ws_base_image/install/setup.bash
 [[ -f $WORKSPACE/devel/setup.bash ]] && source $WORKSPACE/devel/setup.bash
 [[ -f $WORKSPACE/install/setup.bash ]] && source $WORKSPACE/install/setup.bash