ROS2 project from development to deployment, Part 4: Using docker for cross compiler

Build docker image for ARM
Using github action to run build process on the docker
- using act to run locally

Build docker image

Run ARM docker architecture on x64 machine install

Docker

# docker  buildx build --platform linux/arm64 -t humble/arm -f Dockerfile.arm .

FROM ubuntu:22.04

ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES all



# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

ARG USERNAME=user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
    # Add sudo support for the non-root user
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
    && chmod 0440 /etc/sudoers.d/$USERNAME \
    && rm -rf /var/lib/apt/lists/*

# Install language
RUN apt-get update && apt-get install -y \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*


# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-base \
    python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*


RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  python-is-python3 \
  vim \
  ## ros
  ros-humble-rmw-cyclonedds-cpp \
  python3-colcon-common-extensions \
  python3-colcon-clean \
  ## devops
  tmux \
  tmuxp \
  python3-rosdep \
  python3-bloom \
  fakeroot \
  debhelper \
  dh-python \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*

# Set up autocompletion for user
RUN apt-get update && apt-get install -y git-core bash-completion \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
  && rm -rf /var/lib/apt/lists/*

ENV DEBIAN_FRONTEND=
ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1

RUN rosdep init \
  && rosdep update

RUN apt-get update && apt-get install -y --no-install-recommends \
  build-essential \
&& apt-get clean -y \
&& rm -rf /var/lib/apt/lists/*

1	`docker build --platform=linux/arm64/v8 -t ros2_cross_compile:arm64v8 -f Docker/Dockerfile.arm .`

linux/arm64/v8

linux/arm64/v8 is an Alias for linux/arm64

Using github actions

Using github actions local using `act`

install act
curl --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/nektos/act/master/install.sh | sudo bash

Config github action in project

Add .github folder
Add workflows folder
Add action yaml file

.github action folder and files
.github/
└── workflows
    ├── build.yml
    └── README.md

build.yaml
name: My Action
on: [workflow_dispatch]
jobs:
  test:
    runs-on: arm
    steps:
      - name: Check user inside container
        run: which bloom-generate

  build_pkg_interface:
    runs-on: arm
    steps:
      - name: clean
        run: |
          rm -rf src/pkg_interface/debian \
          && rm -rf src/pkg_interface/.obj-*-linux-gnu
      - name: bloom
        run: | 
          source /opt/ros/humble/setup.bash \
          && cd src/pkg_interface \
          && bloom-generate rosdebian 
      - name: fakeroot
        run: |
          cd src/pkg_interface \
          && fakeroot debian/rules binary

  build_pkg_server:
    runs-on: arm
    steps:
      - name: rosdep
        run: |
          export ROSDISTRO_INDEX_URL=file://`pwd`/index-v4.yaml \
          && export ROS_DISTRO=humble \
          && echo "yaml file://`pwd`/rosdep/base.yaml" > /etc/ros/rosdep/sources.list.d/20-default.list \
          && echo "yaml file://`pwd`/rosdep/python.yaml" >> /etc/ros/rosdep/sources.list.d/20-default.list \
          && echo "yaml file://`pwd`/rosdep/custom_rosdep.yaml" > /etc/ros/rosdep/sources.list.d/30-custom.list \
          && rosdep update --rosdistro humble
      - name: bloom
        run: | 
          export ROSDISTRO_INDEX_URL=file://`pwd`/index-v4.yaml
          source /opt/ros/humble/setup.bash \
          && cd src/pkg_server \
          && bloom-generate rosdebian 
      - name: fakeroot
        run: |
          cd src/pkg_server \
          && fakeroot debian/rules binary

  build_pkg_client:
    runs-on: arm
    steps:
      - name: clean
        run: |
          rm -rf src/pkg_client/debian \
          && rm -rf src/pkg_client/.obj-*-linux-gnu
      - name: rosdep
        run: |
          export ROS_DISTRO=humble \
          && echo "yaml file://`pwd`/rosdep/custom_rosdep.yaml" > /etc/ros/rosdep/sources.list.d/30-custom.list \
          && cat /etc/ros/rosdep/sources.list.d/30-custom.list \
          && rosdep update --rosdistro humble
      - name: bloom
        run: source /opt/ros/humble/setup.bash && cd src/pkg_client && bloom-generate rosdebian 
      - name: fakeroot
        run: |
          cd src/pkg_client \
          && fakeroot debian/rules binary

update rosdep sources

Update docker /etc/ros/rosdep/source.list.d with project custom DB and run rosdep update

run
act -j build_pkg_interface -P arm=ros2_cross_compile:arm64v8 \
    --pull=false \
    --bind --directory . 