Use prepared ROS2 Jazzy base image for ARM and cross-compile containe…

…r on x86.

Dockerfile

@@ -1,11 +1,14 @@
-FROM arm64v8/ubuntu:22.04 
+FROM docker.io/arm64v8/ros:jazzy-ros-base AS install_packages
 
 USER root
-
 WORKDIR /usr/src/app
 
-RUN apt-get update -y
-RUN apt-get install -y apt-utils
+RUN apt-get update && \
+    apt-get install -y \
+    git \
+    bash \
+    vim
+
 RUN apt-get install -y locales
 RUN apt-get install -yq tzdata
 RUN echo "Europe/Berlin" > /etc/timezone && \
@@ -25,28 +28,18 @@ RUN apt-get update -yq
 COPY ./keyboard /etc/default/keyboard
 RUN apt-get install keyboard-configuration -yq
 
-RUN apt-get install -yq software-properties-common
-RUN add-apt-repository universe
-
-RUN apt-get update -yq && apt-get install -yq curl
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN 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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt-get update -yq
-RUN apt-get install -yq ros-humble-ros-base
-RUN apt-get install -yq ros-dev-tools
-
-RUN apt-get install -yq bash
-RUN apt-get install -yq git
+#RUN apt-get install -yq ros-dev-tools
 RUN apt-get -yq update --fix-missing
 RUN apt-get -yq install python3 python3-pip
 RUN apt-get -yq install python3-opencv
-RUN apt-get -yq install ros-humble-rosbridge-server
+RUN apt-get -yq install ros-jazzy-rosbridge-server
 RUN apt-get -yq install tmux
-RUN pip3 install pyserial
-RUN apt-get -yq install ros-humble-compressed-image-transport
+#RUN pip3 install pyserial
+RUN apt-get -yq install python3-serial
+RUN apt-get -yq install ros-jazzy-compressed-image-transport
 
 SHELL ["/bin/bash", "-c"]
-RUN source /opt/ros/humble/setup.bash && \
+RUN source /opt/ros/jazzy/setup.bash && \
     cd /usr/src/app && \
     git clone https://github.com/107-systems/l3xz_openmv_camera && \
     cd /usr/src/app/l3xz_openmv_camera && \
@@ -57,4 +50,3 @@ COPY entrypoint.sh /usr/src/app
 COPY head_launch.py /usr/src/app
 
 ENTRYPOINT ["/bin/bash", "/usr/src/app/entrypoint.sh"]
-

README.md

@@ -23,7 +23,23 @@ git clone https://github.com/107-systems/l3xz-sw-pan-tilt-head
 cd l3xz-sw-pan-tilt-head
 sudo ./install.sh
 ~~~
-
+or cross-compile image for ARM on x86:
+```bash
+docker buildx build \
+  --platform linux/arm64 \
+  --tag ros2 \
+  --output type=docker \
+  .
+```
+followed by exporting the image and copying to the target device:
+```bash
+docker save ros2:latest | gzip > ros2_image_latest.tar.gz
+scp ros2_image_latest.tar.gz [email protected]:/root
+```
+and concluded by loading the updated image:
+```bash
+docker load < ros2_image_latest.tar.gz
+```
 The Docker environment for the ROS infrastructure will be built and the application files will be bootstrapped over the system. Finally, the software will come up as a ```systemd``` service with the name ```head.service```.
 The status of the software can be checked with the following command:
 ~~~bash