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Merged
nuclearsandwich merged 3 commits into from
May 13, 2020
Merged

Split windows dockerfiles for different ROS distros. #451

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d1fccca
Split Windows Dockerfile into two.
nuclearsandwich May 13, 2020
0328625
Use Windows Dockerfile based on ROS distro.
nuclearsandwich May 13, 2020
8826aa1
When building Eloquent on Windows use the Dashing dockerfile.
nuclearsandwich May 13, 2020
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9 changes: 7 additions & 2 deletions job_templates/ci_job.xml.em
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Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,7 @@ colcon_branch: ${build.buildVariableResolver.resolve('CI_COLCON_BRANCH')}, <br/>
use_whitespace: ${build.buildVariableResolver.resolve('CI_USE_WHITESPACE_IN_PATHS')}, <br/>
isolated: ${build.buildVariableResolver.resolve('CI_ISOLATED')}, <br/>
ubuntu_distro: ${build.buildVariableResolver.resolve('CI_UBUNTU_DISTRO')}, <br/>
ros_distro: ${build.buildVariableResolver.resolve('CI_ROS_DISTRO')}, <br/>
colcon_mixin_url: ${build.buildVariableResolver.resolve('CI_COLCON_MIXIN_URL')}, <br/>
cmake_build_type: ${build.buildVariableResolver.resolve('CI_CMAKE_BUILD_TYPE')}, <br/>
build_args: ${build.buildVariableResolver.resolve('CI_BUILD_ARGS')}, <br/>
Expand Down Expand Up @@ -357,8 +358,12 @@ setlocal enableDelayedExpansion
rmdir /S /Q ws workspace "work space"

echo "# BEGIN SECTION: Build DockerFile"
set CONTAINER_NAME=ros2_windows_ci_msvc%CI_VISUAL_STUDIO_VERSION%
set DOCKERFILE=windows_docker_resources\Dockerfile.msvc%CI_VISUAL_STUDIO_VERSION%
@# Eloquent uses the Dashing Dockerfile.
if "!CI_ROS_DISTRO!" == "eloquent" (
set "CI_ROS_DISTRO=dashing"
)
set CONTAINER_NAME=ros2_windows_ci_%CI_ROS_DISTRO%
set DOCKERFILE=windows_docker_resources\Dockerfile.%CI_ROS_DISTRO%

rem "Change dockerfile once per day to invalidate docker caches"
powershell "(Get-Content ${Env:DOCKERFILE}).replace('@@todays_date', $(Get-Date).ToLongDateString()) | Set-Content ${Env:DOCKERFILE}"
Expand Down
9 changes: 7 additions & 2 deletions job_templates/packaging_job.xml.em
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Expand Up @@ -110,6 +110,7 @@ All packages listed here have to be available from either the primary or supplem
@[if 'linux' in os_name]@
ubuntu_distro: ${build.buildVariableResolver.resolve('CI_UBUNTU_DISTRO')}, <br/>
@[end if]@
ros_distro: ${build.buildVariableResolver.resolve('CI_ROS_DISTRO')}, <br/>
branch: ${build.buildVariableResolver.resolve('CI_BRANCH_TO_TEST')}, <br/>
ci_branch: ${build.buildVariableResolver.resolve('CI_SCRIPTS_BRANCH')}, <br/>
repos_url: ${build.buildVariableResolver.resolve('CI_ROS2_REPOS_URL')}, <br/>
Expand Down Expand Up @@ -343,8 +344,12 @@ setlocal enableDelayedExpansion
rmdir /S /Q ws workspace

echo "# BEGIN SECTION: Build DockerFile"
set CONTAINER_NAME=ros2_windows_ci_msvc%CI_VISUAL_STUDIO_VERSION%
set DOCKERFILE=windows_docker_resources\Dockerfile.msvc%CI_VISUAL_STUDIO_VERSION%
@# Eloquent uses the Dashing Dockerfile.
if "!CI_ROS_DISTRO!" == "eloquent" (
set "CI_ROS_DISTRO=dashing"
)
set CONTAINER_NAME=ros2_windows_ci_%CI_ROS_DISTRO%
set DOCKERFILE=windows_docker_resources\Dockerfile.%CI_ROS_DISTRO%%

rem "Change dockerfile once per day to invalidate docker caches"
powershell "(Get-Content ${Env:DOCKERFILE}).replace('@@todays_date', $(Get-Date).ToLongDateString()) | Set-Content ${Env:DOCKERFILE}"
Expand Down
0 windows_docker_resources/Dockerfile.msvc2019 → windows_docker_resources/Dockerfile.dashing
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153 changes: 153 additions & 0 deletions windows_docker_resources/Dockerfile.foxy
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@@ -0,0 +1,153 @@
# escape=`
# This Dockerfile needs to be built from the parent directory (ros2/ci) so the build context
# includes the python scripts

# To find this value run in powershell:
# $(Get-ItemProperty 'HKLM:\SOFTWARE\Microsoft\Windows NT\CurrentVersion').ReleaseId
ARG WINDOWS_RELEASE_ID=1909

# In order to ensure the image is correctly compatible with the host system a
# more precise version than the release id is required. To find this value run
# the following in powershell.
# $(Get-ItemProperty -Path 'HKLM:SOFTWARE\Microsoft\Windows NT\CurrentVersion\Update\TargetingInfo\Installed\Server.OS.amd64' -Name Version).Version"
# Fall back to the Release ID
ARG WINDOWS_RELEASE_VERSION=$WINDOWS_RELEASE_ID

# Indicates that the windows image will be used as the base image. Must be same or older than host.
# --isolation=hyperv is needed for both build/run if the image id is older than the host id
# Use --isolation=process if you need to build in a mounted volume
FROM mcr.microsoft.com/windows:$WINDOWS_RELEASE_VERSION

# These are versioned files, so they shouldn't invalidate caches. Renaming to fixed names.
# Regularly updated installers are next to their associated code.
ADD https://github.com/ADLINK-IST/opensplice/releases/download/OSPL_V6_9_190925OSS_RELEASE/PXXX-VortexOpenSplice-6.9.190925OSS-HDE-x86_64.win-vs2019-installer.zip C:\TEMP\OpenSplice.zip

# OpenSSL
ADD https://slproweb.com/download/Win64OpenSSL-1_0_2u.exe C:\TEMP\Win64OpenSSL.exe

# OpenCV
ADD https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip C:\TEMP\opencv.zip

# Python 3.7
ADD https://www.python.org/ftp/python/3.7.6/python-3.7.6-amd64.exe C:\TEMP\python-37.exe

# Custom choco packages
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/asio.1.12.1.nupkg C:\TEMP\asio.nupkg
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/bullet.2.89.0.nupkg C:\TEMP\bullet.nupkg
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/cunit.2.1.3.nupkg C:\TEMP\cunit.nupkg
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/eigen.3.3.4.nupkg C:\TEMP\eigen.nupkg
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/log4cxx.0.10.0.nupkg C:\TEMP\log4cxx.nupkg
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/tinyxml-usestl.2.6.2.nupkg C:\TEMP\tinyxml.nupkg
ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/tinyxml2.6.0.0.nupkg C:\TEMP\tinyxml2.nupkg

# xmllint files
ADD https://www.zlatkovic.com/pub/libxml/64bit/libxml2-2.9.3-win32-x86_64.7z C:\TEMP\libxml2.7z
ADD https://www.zlatkovic.com/pub/libxml/64bit/zlib-1.2.8-win32-x86_64.7z C:\TEMP\zlib.7z
ADD https://www.zlatkovic.com/pub/libxml/64bit/iconv-1.14-win32-x86_64.7z C:\TEMP\iconv.7z

# Restore the default Windows shell for correct batch processing.
SHELL ["cmd", "/S", "/C"]

RUN C:\TEMP\python-37.exe /quiet `
TargetDir=C:\Python37 `
PrependPath=1 `
Include_debug=1 `
Include_symbols=1

# Install Chocolatey by powershell script
RUN powershell -noexit "Set-ExecutionPolicy Bypass -Scope Process -Force; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))"

# choco installs
RUN choco install -y cmake curl git vcredist2013 vcredist140 cppcheck patch
RUN choco install -y -s C:\TEMP asio cunit eigen tinyxml-usestl tinyxml2 log4cxx bullet

RUN C:\TEMP\Win64OpenSSL.exe /VERYSILENT

# For extracting .7z files
ADD https://www.7-zip.org/a/7z1900-x64.exe C:\TEMP\
RUN C:\TEMP\7z1900-x64.exe /S /D="C:\Program Files\7-zip"
RUN setx PATH "%PATH%;C:\Program Files\7-zip"

# Install xmllint
# 7z.exe command line usage https://sevenzip.osdn.jp/chm/cmdline/commands/extract.htm
RUN 7z.exe x C:\TEMP\libxml2.7z -aoa -oC:\xmllint
RUN 7z.exe x C:\TEMP\zlib.7z -aoa -oC:\xmllint
RUN 7z.exe x C:\TEMP\iconv.7z -aoa -oC:\xmllint
RUN 7z.exe x C:\TEMP\opencv.zip -aoa -oC:\

RUN 7z.exe x C:\TEMP\OpenSplice.zip -aoa -oC:\opensplice

# Environment setup
ENV OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
ENV OpenCV_DIR C:\opencv
ENV OSPL_HOME C:\opensplice\HDE\x86_64.win64
# You can't use ENV to append to the PATH https://stackoverflow.com/questions/42092932/appending-to-path-in-a-windows-docker-container
RUN setx PATH "%PATH%;C:\Program Files\Git\cmd;C:\Program Files\CMake\bin;C:\OpenSSL-Win64\bin\;C:\xmllint\bin;"C:\opencv\x64\vc16\bin"

RUN powershell -Command Set-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1
RUN mkdir C:\ws
WORKDIR C:\ci

# Invalidate once a day to cause online installers to check for updates
RUN echo "@todays_date"

# Qt5 online installer
ADD http://download.qt.io/official_releases/online_installers/qt-unified-windows-x86-online.exe C:\TEMP\

# Install Qt5 with automated install script, no msvc2019 version exists but 2017 is compatible
# Updater/silentUpdate options did not work for me. Install scripts finds and installs the most recent LTS version
COPY qt-installer.qs C:\TEMP\

# Installing Qt5 requires an account. This file contains a username and secret account token
RUN mkdir C:\Users\ContainerAdministrator\AppData\Roaming\Qt
COPY qtaccount\qtaccount.ini C:\Users\ContainerAdministrator\AppData\Roaming\Qt\qtaccount.ini

RUN C:\TEMP\qt-unified-windows-x86-online.exe --script C:\TEMP\qt-installer.qs MsvcVersion=2019 ErrorLogname="%ERROR_FILENAME%"
RUN IF EXIST "%ERROR_FILENAME%" EXIT 1

RUN choco upgrade -y chocolatey
RUN choco upgrade -y all

# The rest of the python packages are installed through run_ros2_batch.py
RUN python -m pip install -U pip setuptools pydot PyQt5

COPY rticonnextdds-license\rti_license.dat C:\connext\
ENV RTI_LICENSE_FILE C:\connext\rti_license.dat

COPY rticonnextdds-src\openssl-1.0.2n-target-x64Win64VS2017.zip C:\TEMP\connext\
RUN 7z.exe x C:\TEMP\connext\openssl-1.0.2n-target-x64Win64VS2017.zip -aoa -oC:\connext\
ENV RTI_OPENSSL_BIN C:\connext\openssl-1.0.2n\x64Win64VS2017\release\bin
ENV RTI_OPENSSL_LIB C:\connext\openssl-1.0.2n\x64Win64VS2017\release\lib

COPY rticonnextdds-src\rti_connext_dds-5.3.1-pro-host-x64Win64.exe.??? C:\TEMP\connext\
RUN copy /b C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe.??? C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe
RUN C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe `
--mode unattended `
--unattendedmodeui minimalWithDialogs `
--prefix "%ProgramFiles%"

COPY rticonnextdds-src\openssl-1.0.2n-5.3.1-host-x64Win64.rtipkg C:\TEMP\connext\
RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\openssl-1.0.2n-5.3.1-host-x64Win64.rtipkg"
COPY rticonnextdds-src\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\connext\
RUN copy /b C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg
RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg"
COPY rticonnextdds-src\rti_security_plugins-5.3.1-host-x64Win64.rtipkg C:\TEMP\connext\
RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_security_plugins-5.3.1-host-x64Win64.rtipkg"
COPY rticonnextdds-src\rti_security_plugins-5.3.1-target-x64Win64VS2017.rtipkg C:\TEMP\connext\
RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_security_plugins-5.3.1-target-x64Win64VS2017.rtipkg"

# Visual Studio Build Tools and .Net SDK`
ADD https://aka.ms/vs/16/release/vs_BuildTools.exe C:\TEMP\

# 3010 is an acceptable exit code (install was successful but restart required), but it will confuse docker.
# This installer invalidates docker image caches pretty regularly, so it's late in the order. See documentation for installer at:
# https://docs.microsoft.com/en-us/visualstudio/install/use-command-line-parameters-to-install-visual-studio?view=vs-2019
RUN C:\TEMP\vs_BuildTools.exe --quiet --wait --norestart --includeRecommended `
--add Microsoft.Net.Component.4.8.SDK `
--add Microsoft.VisualStudio.Workload.VCTools `
--add Microsoft.Component.MSBuild `
--add Microsoft.VisualStudio.Component.VC.CLI.Support `
|| IF "%ERRORLEVEL%"=="3010" EXIT 0

CMD ["C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\BuildTools\\VC\\Auxiliary\\Build\\vcvarsall.bat", "x86_amd64", "&&", `
"python", "run_ros2_batch.py", "%CI_ARGS%"]