Dockerfile

ARG FROM_IMAGE=ros:foxy
ARG OVERLAY_WS=/opt/ros/overlay_ws

# multi-stage for caching
FROM $FROM_IMAGE AS cacher

# clone overlay source from ros2 github for listener
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS/src
RUN echo "\
repositories: \n\
  ros2/demos: \n\
    type: git \n\
    url: https://github.com/ros2/demos.git \n\
    version: ${ROS_DISTRO} \n\
" > ../overlay.repos && \
    vcs import ./ < ../overlay.repos
COPY kinemic_ros_bridge/ kinemic_ros_bridge

# copy manifests for caching
WORKDIR /opt
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 builder

# install overlay dependencies from demo_nodes and kinemic bridge
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
RUN . "/opt/ros/$ROS_DISTRO/setup.sh" && \
    apt-get update && rosdep install -y \
      --from-paths \
        src/ros2/demos/demo_nodes_py \
        src/kinemic_ros_bridge \
      --ignore-src \
    && apt-get install --no-install-recommends -y python3-pip \
    && rm -rf /var/lib/apt/lists/*
# install Kinemic Gesture Service Python package
RUN python3 -m pip --no-cache-dir install -U kserviceconnect \
    --extra-index-url 'https://repo.kinemic.com/repository/pypi/simple/'

# build overlay source
COPY --from=cacher $OVERLAY_WS/src ./src
ARG OVERLAY_MIXINS="release"
RUN . "/opt/ros/$ROS_DISTRO/setup.sh" && \
    colcon build \
      --packages-select \
        demo_nodes_py \
        kinemic_ros_bridge \
      --mixin $OVERLAY_MIXINS

# source entrypoint setup
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place --expression \
      '$isource "$OVERLAY_WS/install/setup.bash"' \
      /ros_entrypoint.sh