Dockerfile

ARG ROS_DISTRO=melodic

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

RUN set -xue \
# Kinetic and melodic have python3 packages but they seem to conflict
&& [ $ROS_DISTRO = "noetic" ] && PY=python3 || PY=python \
# 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               \
    $PY-rosdep              \
    $PY-rospkg              \
    $PY-bloom

# 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

# Install build dependencies using rosdep
COPY --chown=build:build package.xml $OUSTER_ROS_PATH/package.xml

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

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

USER build:build
WORKDIR ${BUILD_HOME}

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


FROM build-env

ENV CXXFLAGS="-Werror -Wno-deprecated-declarations"
RUN /opt/ros/$ROS_DISTRO/env.sh catkin_make -DCMAKE_BUILD_TYPE=Release \
&& /opt/ros/$ROS_DISTRO/env.sh catkin_make install

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