Add dockerfile and requirements.

Author: guillermo-sarabia

Dockerfile

@@ -0,0 +1,104 @@
+# syntax=docker/dockerfile:1.4
+# Build with 
+# TODO: Not use root! 
+# Add cache for apt update.xº
+ARG image_base=337955887028.dkr.ecr.eu-central-1.amazonaws.com/amd64:galactic-1.4.4
+
+ARG registry=registry.klepsydra.io/repository
+ARG board=amd64
+ARG osrelease=focal
+
+FROM $image_base as system_dep
+ENV BUILD_MODE=Release
+
+USER root 
+
+# Install kpe dependencies. VPN required.
+# COPY public.gpg.key /tmp/public.gpg.key 
+
+RUN <<EOF
+# echo "deb https://${registry}/${board}/ ${osrelease} main" >> /etc/apt/sources.list.d/klepsydra.list 
+# apt-key add /tmp/public.gpg.key 
+# rm /tmp/public.gpg.key 
+# apt update
+
+pip3 config set global.extra-index-url https://registry.klepsydra.io/repository/kpe-pypi/simple
+pip3 install kpsr-codegen
+EOF
+
+RUN mkdir -p -m 0700 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+FROM system_dep as kpe-core
+ENV KPE_CORE_TAG=v7.11.0
+RUN --mount=type=ssh git clone --branch ${KPE_CORE_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-core
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd /home/kpsruser/kpe-core
+# Patch to make it work. 
+sed -i 's/set(_SPDLOG_VERSION "1.5")/set(_SPDLOG_VERSION "1.5.0")/g' CMakeLists.txt
+mkdir build 
+cd build 
+cmake -DKPSR_WITH_YAML=false -DKPSR_WITH_SOCKET=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DKPSR_WITH_ROS_HUMBLE_OR_ABOVE=true \
+-DKPSR_TEST_PERFORMANCE=false ../ 
+make -j
+sudo make install
+EOF
+
+
+FROM kpe-core as kpe-admin
+ENV KPE_ADMIN_TAG=v6.0.1
+RUN --mount=type=ssh git clone --branch ${KPE_ADMIN_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-admin
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd /home/kpsruser/kpe-admin
+mkdir build && cd build &&
+cmake -DKPSR_WITH_SOCKET=true -DKPSR_NO_LICENSE=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+
+FROM kpe-admin as kpe-streaming
+ENV KPE_STREAMING_VER=v9.1.1
+RUN --mount=type=ssh git clone --branch ${KPE_STREAMING_VER} --recurse-submodules git@github.com:klepsydra-technologies/kpe-streaming
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd  /home/kpsruser/kpe-streaming
+mkdir build && cd build &&
+cmake -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+# Install colcon, rosdep and dependencies
+FROM kpe-streaming as kpe-ros2-core
+RUN --mount=type=ssh git clone --recurse-submodules git@github.com:klepsydra-technologies/kpe-ros2-core.git
+ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt 
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+pip install -U rosdep
+rosdep init && rosdep update --include-eol-distros
+
+. /opt/ros/galactic/local_setup.sh
+mkdir -p /home/kpsruser/kpe-ros2-core-install/src 
+ln -s /home/kpsruser/kpe-ros2-core/ /home/kpsruser/kpe-ros2-core-install/src/kpe-ros2-core
+cd /home/kpsruser/kpe-ros2-core-install/ 
+rosdep install --from-paths src --ignore-src -r -y  && 
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_MODE}
+EOF
+
+FROM kpe-ros2-core as reference_sytem
+ENV KPE_REF_SYSTEM=update_klepsydra_executor
+RUN --mount=type=ssh git clone --branch ${KPE_REF_SYSTEM} --recurse-submodules git@github.com:klepsydra-technologies/reference-system.git
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+mkdir -p /home/kpsruser/colcon_reference-system/src
+ 
+ln -s /home/kpsruser/reference-system /home/kpsruser/colcon_reference-system/src/reference-system
+cd /home/kpsruser/colcon_reference-system/
+
+. /opt/ros/galactic/local_setup.sh
+colcon build --cmake-args -DCMAKE_PREFIX_PATH="/home/kpsruser/kpe-ros2-core-install/install" -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DRUN_BENCHMARK=ON
+EOF
+
+# Necessary.
+ENV LD_LIBRARY_PATH=/home/kpsruser/kpe-ros2-core-install/install/kpsr_ros2_executor/lib:/usr/local/lib:/home/kpsruser/colcon_reference-system/install/reference_interfaces/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib
+

requirements.txt

@@ -0,0 +1,4 @@
+bokeh==2.4.1
+psrecord==1.2
+pygad
+numpy==1.24.3