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Update Dockerfiles to support dynamic package installation and build type configuration

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Даниил Грабарь
2026-05-19 01:51:51 +03:00
parent 06c50616b4
commit 24bc5f3aba
3 changed files with 31 additions and 6 deletions
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README.md
+6
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@@ -163,3 +163,9 @@ docker build -t evilfisru/lwc:... -f docker/jazzy/.../Dockerfile .
docker run -it --rm --network host evilfisru/lwa:jazzy-lwa7-noble docker run -it --rm --network host evilfisru/lwa:jazzy-lwa7-noble
``` ```
# release - src/build/log удаляются (по умолчанию)
`docker build -t my-image .`
# dev - src остаётся для отладки
`docker build --build-arg BUILD_TYPE=dev -t my-image .`
docker/jazzy/ros-iiwa7-webots/Dockerfile
+13 -3
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@@ -1,4 +1,5 @@
FROM evilfisru/ros:jazzy-base-noble FROM evilfisru/ros:jazzy-base-noble
ARG BUILD_TYPE=release
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV WEBOTS_HOME=/usr/local/webots ENV WEBOTS_HOME=/usr/local/webots
@@ -25,14 +26,21 @@ RUN wget -q https://github.com/cyberbotics/webots/releases/download/R2025a/webot
rm -rf /var/lib/apt/lists/* rm -rf /var/lib/apt/lists/*
RUN apt-get update && apt-get install -y --no-install-recommends \ RUN apt-get update && apt-get install -y --no-install-recommends \
ros-jazzy-rmw-cyclonedds-cpp \ ros-${ROS_DISTRO}-webots-ros2 \
# ros-jazzy-webots-ros2-control \ ros-${ROS_DISTRO}-ros2-control \
ros-${ROS_DISTRO}-ros2-controllers \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
ros-${ROS_DISTRO}-moveit \
ros-${ROS_DISTRO}-moveit-py \
ros-${ROS_DISTRO}-ament-cmake-clang-format \
ros-${ROS_DISTRO}-rosbag2-storage-mcap \
python3-pil \ python3-pil \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/lib/apt/lists/* && rm -rf /var/lib/apt/lists/*
WORKDIR /ros2_ws WORKDIR /ros2_ws
COPY src/ src/ COPY src/iiwa_* src/
RUN apt-get update && \ RUN apt-get update && \
rosdep install --from-paths src -i -r -y && \ rosdep install --from-paths src -i -r -y && \
@@ -41,6 +49,8 @@ RUN apt-get update && \
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build --mixin release colcon build --mixin release
RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
CMD ["bash"] CMD ["bash"]
docker/jazzy/ros-iiwa7/Dockerfile
+11 -2
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@@ -1,14 +1,21 @@
FROM evilfisru/ros:jazzy-base-noble FROM evilfisru/ros:jazzy-base-noble
ARG BUILD_TYPE=release
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
RUN apt-get update && apt-get install -y --no-install-recommends \ RUN apt-get update && apt-get install -y --no-install-recommends \
ros-jazzy-rmw-cyclonedds-cpp \ ros-${ROS_DISTRO}-ros2-control \
ros-${ROS_DISTRO}-ros2-controllers \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
ros-${ROS_DISTRO}-moveit \
ros-${ROS_DISTRO}-moveit-py \
ros-${ROS_DISTRO}-ament-cmake-clang-format \
ros-${ROS_DISTRO}-rosbag2-storage-mcap \
&& rm -rf /var/lib/apt/lists/* && rm -rf /var/lib/apt/lists/*
WORKDIR /ros2_ws WORKDIR /ros2_ws
COPY src/ src/ COPY src/iiwa_* src/
RUN apt-get update && \ RUN apt-get update && \
rosdep install --from-paths src -i -r -y && \ rosdep install --from-paths src -i -r -y && \
@@ -17,6 +24,8 @@ RUN apt-get update && \
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build --mixin release colcon build --mixin release
RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
CMD ["bash"] CMD ["bash"]