Docker cleanup

husarion · Oct 4, 2023 · 439e3f2 · 439e3f2
1 parent 0906084
commit 439e3f2
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Showing 4 changed files with 46 additions and 76 deletions.
diff --git a/.github/workflows/build-docker-image.yaml b/.github/workflows/build-docker-image.yaml
@@ -3,7 +3,7 @@ name: Build a Docker Image
 on:
   push:
   workflow_dispatch:
-  
+
 jobs:
   build:
     runs-on: ubuntu-20.04
@@ -12,8 +12,8 @@ jobs:
     - name: Checkout
       uses: actions/checkout@v3
 
-    - name: Set FOXGLOVE_VERSION env
-      run: echo "FOXGLOVE_VERSION=v1.72.0" >> $GITHUB_ENV
+    - name: "Set VERSION env"
+      run: echo "VERSION=$(docker run --rm --entrypoint /bin/bash husarion/${{ env.IMAGE_NAME }}:${{ inputs.ros_distro }}-nightly -c "cat /version.txt")" >> $GITHUB_ENV
       shell: bash
 
     - name: Set SHORT_DATE env
@@ -22,32 +22,29 @@ jobs:
 
     - name: Set up QEMU
       uses: docker/setup-qemu-action@v2
-      
+
     - name: Set up Docker Buildx
       uses: docker/setup-buildx-action@v2
       with:
         version: latest
-    
+
     - name: Login to Docker Registry
       uses: docker/login-action@v2
       with:
         registry: docker.io
         username: ${{ secrets.DOCKERHUB_USERNAME }}
         password: ${{ secrets.DOCKERHUB_TOKEN }}
-          
+
     - name: Build and push (production)
       if: github.ref_name == 'main'
       uses: docker/build-push-action@v3
       with:
         platforms: linux/amd64, linux/arm64
         push: true
-        build-args: |
-          FOXGLOVE_VERSION=${{ env.FOXGLOVE_VERSION }}
         tags: |
-          husarion/foxglove:${{ env.FOXGLOVE_VERSION }}-${{ env.SHORT_DATE }}
-          husarion/foxglove:${{ env.FOXGLOVE_VERSION }}
+          husarion/foxglove:${{ env.VERSION }}-${{ env.SHORT_DATE }}
+          husarion/foxglove:${{ env.VERSION }}
           husarion/foxglove:nightly
-        # cache-from: type=registry,ref=husarnet/dds-router
         cache-to: type=inline
 
     - name: Build and push (feature branch)
@@ -56,10 +53,7 @@ jobs:
       with:
         platforms: linux/amd64, linux/arm64
         push: true
-        build-args: |
-          FOXGLOVE_VERSION=${{ env.FOXGLOVE_VERSION }}
         tags: |
-          husarion/foxglove:${{ github.head_ref || github.ref_name }}-${{ env.FOXGLOVE_VERSION }}
+          husarion/foxglove:${{ github.head_ref || github.ref_name }}-${{ env.VERSION }}
           husarion/foxglove:nightly
-        # cache-from: type=registry,ref=husarnet/dds-router-${{ github.head_ref || github.ref_name }}
         cache-to: type=inline
diff --git a/Dockerfile b/Dockerfile
@@ -1,64 +1,52 @@
-ARG FOXGLOVE_VERSION=v1.72.0
+ARG ROS_DISTRO=humble
 
 # URDF stage
-FROM husarion/rviz2:humble-nightly as urdf_builder
-
-RUN apt-get update && apt-get install -y \
-        python3-pip \
-        python3-colcon-common-extensions \
-        python3-rosdep \
-        python3-vcstool \
-        git && \
-    git clone -b ros2-control https://github.com/husarion/panther_ros.git /ros2_ws/src/panther_ros && \
+FROM ros:$ROS_DISTRO-ros-base as urdf_builder
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2_ws
+
+RUN apt update && \
+    apt-get install -y \
+        subversion \
+        ros-$ROS_DISTRO-xacro && \
+    mkdir src && \
+    cd ./src && \
+    svn checkout https://github.com/husarion/rosbot_ros/trunk/rosbot_description && \
+    svn checkout https://github.com/husarion/rosbot_xl_ros/trunk/rosbot_xl_description && \
+    git clone https://github.com/husarion/ros_components_description.git && \
+    svn checkout https://github.com/husarion/open_manipulator_x/trunk/open_manipulator_x_description && \
+    git clone -b ros2-control https://github.com/husarion/panther_ros.git && \
     rm -rf /ros2_ws/src/panther_ros/panther && \
     rm -rf /ros2_ws/src/panther_ros/panther_battery && \
     rm -rf /ros2_ws/src/panther_ros/panther_controller && \
     rm -rf /ros2_ws/src/panther_ros/panther_hardware_interfaces && \
-    rm -rf /ros2_ws/src/panther_ros/panther_utils && \
-    cd /ros2_ws && \
-    source install/setup.bash && \
-    colcon build
+    rm -rf /ros2_ws/src/panther_ros/panther_utils
 
-RUN apt-get update -y && apt-get install -y ros-$ROS_DISTRO-xacro && \
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build && \
     source install/setup.bash && \
-    xacro /ros2_ws/src/rosbot_ros/rosbot_description/urdf/rosbot.urdf.xacro > /rosbot.urdf && \
-    xacro /ros2_ws/src/rosbot_xl_ros/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro use_sim:=false simulation_controllers_config_file:=None > /rosbot_xl.urdf && \
+    xacro /ros2_ws/src/rosbot_description/urdf/rosbot.urdf.xacro > /rosbot.urdf && \
+    xacro /ros2_ws/src/rosbot_xl_description/urdf/rosbot_xl.urdf.xacro use_sim:=false simulation_controllers_config_file:=None > /rosbot_xl.urdf && \
     xacro /ros2_ws/src/panther_ros/panther_description/urdf/panther.urdf.xacro > /panther.urdf && \
     # Changing rotation is cause by .stl files in rosbot_ros/rosbot_description. We will change it to the .dae files.
     sed -i 's/rpy=\"1.5707963267948966 0.0 1.5707963267948966\"/rpy=\"0.0 0.0 1.5707963267948966\"/g' /rosbot.urdf
 
-# Build stage
-FROM node:16 as build
-
-ARG FOXGLOVE_VERSION
-
-RUN apt update && apt install -y \
-        git-lfs
-
-WORKDIR /src
-RUN git clone --branch $FOXGLOVE_VERSION https://github.com/foxglove/studio
-WORKDIR /src/studio
-
-RUN corepack enable
-RUN yarn install --immutable
-
-ENV FOXGLOVE_DISABLE_SIGN_IN=true
-RUN yarn run web:build:prod
-
-# Release stage
-FROM caddy:2.6.2-alpine
-
-ARG FOXGLOVE_VERSION
+# Latest version: https://github.com/foxglove/studio/pkgs/container/studio
+FROM ghcr.io/foxglove/studio:latest
 
 RUN apk update && apk add \
         bash \
-        nss-tools
+        nss-tools \
+        curl \
+        jq \
+        sed
 
 SHELL ["/bin/bash", "-c"]
 
 WORKDIR /src
 
-COPY --from=build /src/studio/web/.webpack .
 COPY FoxgloveDefaultLayout.json /foxglove/default-layout.json
 
 COPY Caddyfile /etc/caddy/
@@ -80,5 +68,7 @@ ENV UI_PORT=8080
 # replace file:///ros2_ws with http://{{.Host}}:UI_PORT/ros2_ws in /src/rosbot_xl.urdf and /src/rosbot.urdf files
 RUN sed -i 's|file:///ros2_ws|http://{{.Host}}:{{env "UI_PORT"}}/ros2_ws|g' /src/rosbot_xl.urdf /src/rosbot.urdf /src/panther.urdf
 
+RUN echo $(curl -s https://raw.githubusercontent.com/foxglove/studio/main/package.json | jq -r '.version' | sed -nE 's/.*\b([0-9]+\.[0-9]+\.[0-9]+)\b.*/\1/p') > /version.txt
+
 ENTRYPOINT ["/bin/sh", "/entrypoint.sh"]
 CMD ["caddy", "run", "--config", "/etc/caddy/Caddyfile", "--adapter", "caddyfile"]
diff --git a/compose.yaml b/compose.yaml
diff --git a/demo/compose.yaml b/demo/compose.yaml
@@ -1,10 +1,13 @@
 services:
   foxglove:
-    image: husarion/foxglove:v1.72.0
+    # image: husarion/foxglove:v1.72.0
+    build:
+      context: ..
+      dockerfile: Dockerfile
     ports:
       - 8080:8080
     volumes:
-      - ./RosbotTeleop.json:/foxglove/default-layout.json
+      - ./foxglove-layout.json:/foxglove/default-layout.json
     environment:
       - DS_TYPE=rosbridge-websocket
       - DS_PORT=9090
@@ -14,4 +17,4 @@ services:
     image: husarion/rosbridge-server:humble
     ports:
       - 9090:9090
-    command: ros2 launch rosbridge_server rosbridge_websocket_launch.xml  
+    command: ros2 launch rosbridge_server rosbridge_websocket_launch.xml