Earthfile

# Copyright 2024 Ekumen, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

VERSION 0.8

IMPORT ../../external/os AS os
IMPORT ../../.. AS lambkin

devel:
    ARG distro=jammy
    ARG rosdistro  # forward
    ARG user=lambkin
    ARG uid=1000
    ARG gid=1000
    FROM lambkin+embed-ubuntu-devel --distro=${distro}  --rosdistro=${rosdistro}
    RUN mkdir -p /workspace/src
    WORKDIR /workspace
    COPY package.xml src/lambkin/benchmarks/beluga_vs_nav2_multi_dataset/package.xml
    RUN . /etc/profile && apt update && rosdep update && \
        rosdep install -y -i --from-paths src \
            --skip-keys 'lambkin-shepherd lambkin-clerk' && \
        apt clean && rm -rf /var/lib/apt/lists/*
    RUN pip install linuxdoc sphinxcontrib.datatemplates sphinxcontrib-repl
    COPY DEFAULT_FASTRTPS_PROFILES.xml /
    ENV FASTRTPS_DEFAULT_PROFILES_FILE=/DEFAULT_FASTRTPS_PROFILES.xml
    DO os+ADDUSER --user=${user} --uid=${uid} --gid=${gid} --workdir=/workspace
    SAVE IMAGE ekumenlabs/beluga-vs-nav2:dev

local-devel:
    LOCALLY
    ARG distro=jammy
    ARG rosdistro  # forward
    LET user="$(whoami)"
    LET uid="$(id -u)"
    LET gid="$(id -g)"
    BUILD +devel --distro=${distro} --rosdistro=${rosdistro} --user=${user} --uid=${uid} --gid=${gid}

build:
    ARG distro=jammy
    ARG rosdistro  # forward
    FROM lambkin+embed-ubuntu-devel --distro=${distro} --rosdistro=${rosdistro} --components="external/ros2"
    RUN mkdir -p /workspace/src
    WORKDIR /workspace
    COPY . src/beluga_vs_nav2_multi_dataset
    RUN . /etc/profile && apt update && rosdep update && \
        rosdep install -y -i --from-paths src -t build -t buildtool -t test \
            --skip-keys 'lambkin-shepherd lambkin-clerk' && \
        apt clean && rm -rf /var/lib/apt/lists/*
    RUN . /etc/profile && colcon build --merge-install --install-base /opt/ros/application
    LET content = "
    source /opt/ros/application/setup.bash
    if [ \$# -ne 0 ]; then
        ros2 run beluga_vs_nav2_multi_dataset \$@
    else
        bash
    fi
    "
    RUN echo "${content}" > /opt/ros/application/entrypoint.bash
    SAVE ARTIFACT /opt/ros/application

release:
    ARG distro=jammy
    ARG rosdistro  # forward
    FROM lambkin+embed-ubuntu-release --distro=${distro} --rosdistro=${rosdistro}
    COPY (+build/application --distro=${distro} --rosdistro=${rosdistro}) /opt/ros/application
    RUN . /etc/profile && apt update && rosdep update && \
        rosdep install -i -y --from-path /opt/ros/application \
            -t exec --skip-keys 'lambkin-shepherd lambkin-clerk' && \
        apt clean && rm -rf /var/lib/apt/lists/*
    RUN pip install linuxdoc sphinxcontrib.datatemplates sphinxcontrib-repl
    ENTRYPOINT ["/bin/bash", "--login", "/opt/ros/application/entrypoint.bash"]
    SAVE IMAGE ekumenlabs/beluga-vs-nav2:latest