Dockerfile

ARG ROS_DISTRO=rolling

FROM ros:${ROS_DISTRO}-ros-core AS build-env
ENV DEBIAN_FRONTEND=noninteractive \
    BUILD_HOME=/var/lib/build \
    OUSTER_ROS_PATH=/opt/ros2_ws/src/ouster-ros

RUN set -xue \
# Turn off installing extra packages globally to slim down rosdep install
&& echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \
&& apt-get update \
&& apt-get install -y       \
    build-essential         \
    cmake                   \
    fakeroot                \
    dpkg-dev                \
    debhelper               \
    python3-rosdep          \
    python3-rospkg          \
    python3-bloom           \
    python3-colcon-common-extensions

# Set up non-root build user
ARG BUILD_UID=1000
ARG BUILD_GID=${BUILD_UID}

RUN set -xe \
&& groupadd -o -g ${BUILD_GID} build \
&& useradd -o -u ${BUILD_UID} -d ${BUILD_HOME} -rm -s /bin/bash -g build build

# Set up build environment
COPY --chown=build:build . $OUSTER_ROS_PATH

RUN set -xe         \
&& apt-get update   \
&& rosdep init      \
&& rosdep update --rosdistro=$ROS_DISTRO \
&& rosdep install --from-paths $OUSTER_ROS_PATH -y --ignore-src


USER build:build
WORKDIR ${BUILD_HOME}

RUN set -xe \
&& mkdir src \
&& cp -R $OUSTER_ROS_PATH ./src


FROM build-env

SHELL ["/bin/bash", "-c"]

RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build \
    --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_CXX_FLAGS="-Wno-deprecated-declarations"

RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon test \
    --ctest-args tests ouster_ros --rerun-failed --output-on-failure

# Entrypoint for running Ouster ros:
#
# Usage: docker run --rm -it ouster-ros [sensor.launch parameters ..]
#
ENTRYPOINT ["bash", "-c", "set -e \
&& source ./install/setup.bash \
&& ros2 launch ouster_ros sensor.launch.xml \"$@\" \
", "ros-entrypoint"]