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Fix gisnav Dockerfile #137

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merged 1 commit into from
Aug 13, 2024
Merged

Fix gisnav Dockerfile #137

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25 changes: 7 additions & 18 deletions docker/mavros/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -40,8 +40,11 @@ ENV ROS_DISTRO=${ROS_DISTRO}

WORKDIR /opt/colcon_ws/src/

# Copy package.xml only to install system dependencies
COPY ros/gisnav/package.xml gisnav/ros/gisnav/package.xml
# .git needed to make pre-commit and git describe work. We create a shallow
# copy of the repo to avoid carrying over all of commit history.
COPY . /tmp/gisnav
RUN git clone --depth 1 /tmp/gisnav/ gisnav/ && \
rm -rf /tmp/gisnav

# Install GISNav system dependencies - we will install
# the setup.py python dependencies later.
Expand All @@ -59,9 +62,6 @@ RUN git clone --branch release/1.14 https://github.com/px4/px4_msgs.git && \
cd .. && \
colcon build --packages-select px4_msgs

# Copy rest of gisnav ros2 package
COPY ros/ gisnav/ros

WORKDIR /opt/colcon_ws/src/gisnav/

# Install python dependencies, mainly torch and related CUDA deps
Expand All @@ -73,9 +73,8 @@ RUN cd ros/gisnav && \
source install/setup.bash && \
colcon build --packages-select gisnav gisnav_msgs

COPY docker/mavros/gisnav/entrypoint.sh /

RUN chmod +x /entrypoint.sh
RUN cp docker/mavros/gisnav/entrypoint.sh / && \
chmod +x /entrypoint.sh

# Download LightGlue pretrained weights
RUN python3 -c \
Expand All @@ -87,8 +86,6 @@ RUN apt-get update \
&& rm -rf /var/lib/apt/lists/* \
&& apt clean

COPY docs/ docs/

# Node 18 for building the docs (Sphinx dependencies already in setup.py)
RUN curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | bash \
&& source ~/.nvm/nvm.sh \
Expand All @@ -97,12 +94,4 @@ RUN curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.39.7/install.sh | b
&& cd docs/vitepress \
&& npm install

COPY Makefile .pre-commit-config.yaml LICENSE.md README.md pyproject.toml /opt/colcon_ws/src/gisnav/

# .git needed to make pre-commit and git describe work. We create a shallow
# copy of the repo to avoid carrying over all of commit history.
COPY .git /tmp/gisnav/.git
RUN git clone --depth 1 /tmp/gisnav/.git /opt/colcon_ws/src/gisnav/.git && \
rm -rf /tmp/gisnav/.git

ENTRYPOINT ["/entrypoint.sh"]
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