Update underlay and overlay

Author: ruffsl

Dockerfile

@@ -1,25 +1,33 @@
-ARG FROM_IMAGE=ros:eloquent
+ARG FROM_IMAGE=ros:foxy
+ARG UNDERLAY_WS=/opt/underlay_ws
+ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching
-FROM $FROM_IMAGE AS cache
+FROM $FROM_IMAGE AS cacher
+
+# copy underlay source
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS/src
+COPY ./ ./ros2-rust/ros2_rust
 
 # clone overlay source
-ENV OVERLAY_WS /opt/overlay_ws
-RUN mkdir -p $OVERLAY_WS/src
-WORKDIR $OVERLAY_WS
-COPY ./ros2_rust.repos ./
-RUN vcs import src < ros2_rust.repos
-COPY ./ src/ros2-rust/ros2_rust
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+COPY ./ros2_rust.repos ../
+RUN vcs import ./ < ../ros2_rust.repos && \
+    find ./ -name ".git" | xargs rm -rf
 
 # copy manifests for caching
 WORKDIR /opt
-RUN find ./ -name "package.xml" | \
-      xargs cp --parents -t /tmp
-    # find ./ -name "COLCON_IGNORE" | \
-    #   xargs cp --parents -t /tmp
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
+    find ./ -name "COLCON_IGNORE" | \
+      xargs cp --parents -t /tmp/opt || true
 
 # multi-stage for building
-FROM $FROM_IMAGE AS build
+FROM $FROM_IMAGE AS builder
+ARG DEBIAN_FRONTEND=noninteractive
 
 # install CI dependencies
 RUN apt-get update && apt-get install -q -y \
@@ -31,23 +39,11 @@ RUN apt-get update && apt-get install -q -y \
         wget \
     && rm -rf /var/lib/apt/lists/*
 
-# copy overlay manifests
-ENV OVERLAY_WS /opt/overlay_ws
-COPY --from=cache /tmp/overlay_ws $OVERLAY_WS
-WORKDIR $OVERLAY_WS
-
-# install overlay dependencies
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    apt-get update && rosdep install -q -y \
-      --from-paths src \
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
-
-# install rust
+# install rust dependencies
 ENV RUSTUP_HOME=/usr/local/rustup \
     CARGO_HOME=/usr/local/cargo \
     PATH=/usr/local/cargo/bin:$PATH \
-    RUST_VERSION=1.41.1
+    RUST_VERSION=1.45.2
 RUN set -eux; \
     wget -O rustup-init "https://sh.rustup.rs"; \
     chmod +x rustup-init; \
@@ -60,17 +56,61 @@ RUN set -eux; \
     cargo --version; \
     rustc --version;
 
-# copy overlay source
-COPY --from=cache $OVERLAY_WS ./
+# install underlay dependencies
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS
+COPY --from=cacher /tmp/$UNDERLAY_WS ./
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build underlay source
+COPY --from=cacher $UNDERLAY_WS ./
+ARG UNDERLAY_MIXINS="release ccache"
+ARG FAIL_ON_BUILD_FAILURE=True
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --mixin $UNDERLAY_MIXINS \
+      --event-handlers console_direct+ \
+    || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
+
+# install overlay dependencies
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS ./
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+        $UNDERLAY_WS/src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
 
 # build overlay source
+COPY --from=cacher $OVERLAY_WS ./
 ARG OVERLAY_MIXINS="release ccache"
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+RUN . $UNDERLAY_WS/install/setup.sh && \
     colcon build \
       --symlink-install \
-      --mixin $OVERLAY_MIXINS
+      --mixin $OVERLAY_MIXINS \
+    || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
 
 # source overlay from entrypoint
+ENV UNDERLAY_WS $UNDERLAY_WS
+ENV OVERLAY_WS $OVERLAY_WS
 RUN sed --in-place \
       's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
-      /ros_entrypoint.sh
+      /ros_entrypoint.sh
+
+# test overlay build
+ARG RUN_TESTS
+ARG FAIL_ON_TEST_FAILURE=Ture
+RUN if [ -n "$RUN_TESTS" ]; then \
+        . $OVERLAY_WS/install/setup.sh && \
+        colcon test \
+          --mixin $OVERLAY_MIXINS \
+        && colcon test-result \
+          || ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
+    fi