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feat: include micro-xrce-dds in runtime container #58

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feat: include micro-xrce-dds in runtime container #58

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27 changes: 27 additions & 0 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,9 @@ SHELL ["/bin/bash", "-c"]
ENV TZ=Asia/Shanghai \
DEBIAN_FRONTEND=noninteractive

ARG FASTDDS_TAG=v2.12.2
ARG MICROXRCE_AGENT_TAG=v2.4.2

# Install tools and libraries.
RUN apt-get update && apt-get install -y --no-install-recommends \
vim wget curl unzip \
Expand Down Expand Up @@ -56,6 +59,30 @@ RUN git clone https://github.com/Livox-SDK/Livox-SDK2.git && \
make install && \
cd ../.. && rm -rf Livox-SDK2

# Install Micro XRCE-DDS Agent as a standalone dependency in rmcs-base.
RUN apt-get update && \
apt-get install -y --no-install-recommends libasio-dev && \
git clone --branch "${MICROXRCE_AGENT_TAG}" --depth 1 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/Micro-XRCE-DDS-Agent && \
sed -Ei "s|(set\\(_fastdds_tag )[^)]*(\\))|\\1${FASTDDS_TAG}\\2|" /tmp/Micro-XRCE-DDS-Agent/CMakeLists.txt && \
cmake -S /tmp/Micro-XRCE-DDS-Agent -B /tmp/micro-xrce-dds-agent-build \
-DCMAKE_BUILD_TYPE=Release \
-DBUILD_SHARED_LIBS=OFF \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DUAGENT_SUPERBUILD=ON \
-DUAGENT_BUILD_EXECUTABLE=ON \
-DUAGENT_USE_SYSTEM_FASTCDR=OFF \
-DUAGENT_USE_SYSTEM_FASTDDS=OFF \
-DUAGENT_LOGGER_PROFILE=OFF \
-DUAGENT_P2P_PROFILE=OFF \
-DCMAKE_PREFIX_PATH="/opt/ros/${ROS_DISTRO}" && \
cmake --build /tmp/micro-xrce-dds-agent-build --target uagent -j"$(nproc)" && \
agent_bin="$(find /tmp/micro-xrce-dds-agent-build -type f -name MicroXRCEAgent -print -quit)" && \
test -n "${agent_bin}" && \
install -Dm755 "${agent_bin}" /usr/local/bin/MicroXRCEAgent && \
apt-get purge -y --auto-remove libasio-dev && \
apt-get autoremove -y && apt-get clean && \
rm -rf /var/lib/apt/lists/* /tmp/*

# Mount rmcs source and install dependencies
RUN --mount=type=bind,target=/rmcs_ws/src,source=rmcs_ws/src,readonly \
apt-get update && \
Expand Down