How to build using Colcon inside a Dockerfile

asked 2021-03-14 19:36:26 -0600

jandaa
33 ●2 ●5 ●7

updated 2021-03-16 09:55:27 -0600

I'm trying to use docker to build and run a ROS2 node, however in order for Colcon to build the node as an instruction in the Dockerfile, it must first have ROS2 sourced. It seems though that you cannot source a script in a dockerfile instruction, so is there a way to build a Colcon workspace as part of a dockerfile?

Essentially what I'm trying to do assuming a colcon workspace has been copied to the image is:

RUN /bin/bash -c "source /opt/ros/eloquent/setup.sh" && colcon build

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1

I suggest you add the "Update" as an answer and accept it instead of updating the question.

jeremya ( 2021-03-16 08:10:25 -0600 )edit

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answered 2021-03-17 17:07:25 -0600

ruffsl
1094 ●19 ●44 ●40

Instead of using the source in bash, you can use the dot operator instead, as it's supported in dash (the default shell in ubuntu based images)

https://wiki.ubuntu.com/DashAsBinSh

For example:

RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build

https://github.com/ros-planning/navig...

You can also change the default shell in the Dockerfile:

https://docs.docker.com/engine/refere...

but I'd suggest keeping it simple with the dot operator as above.

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Thanks that works as well!

jandaa ( 2021-03-17 19:27:20 -0600 )edit

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answered 2021-03-15 16:50:29 -0600

jeremya

275 ●16 ●27 ●33

Instead of

RUN /bin/bash -c "source /opt/ros/eloquent/setup.sh" && colcon build

try moving the double quote:

RUN /bin/bash -c "source /opt/ros/eloquent/setup.sh && colcon build"

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Ah you're right thank you!

jandaa ( 2021-03-16 09:54:58 -0600 )edit

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answered 2021-03-16 09:55:57 -0600

jandaa
33 ●2 ●5 ●7

I found you can also write a script and execute it in the instruction. For example:

#!/bin/bash
source /opt/ros/"${ROS_DISTRO}"/setup.bash
colcon build

and inside the docker file RUN build.sh

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How to build using Colcon inside a Dockerfile

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