Reduce CI Docker images and revert to nightly build

.circleci/config.yml

@@ -280,7 +280,7 @@ _steps:
           (echo ros_entrypoint && cat) >> lockfile.txt
         sha256sum $PWD/lockfile.txt >> lockfile.txt
         mv ~/.ccache $CCACHE_DIR
-        rm -rf $OVERLAY_WS/src
+        rm -rf $OVERLAY_WS/*
   on_checkout: &on_checkout
     checkout:
       path: src/navigation2
@@ -437,15 +437,15 @@ _environments:
 executors:
   debug_exec:
     docker:
-      - image: rosplanning/navigation2:main.debug
+      - image: rosplanning/navigation2:main
     working_directory: /opt/overlay_ws
     environment:
       <<: *common_environment
       CACHE_NONCE: "Debug"
       OVERLAY_MIXINS: "debug ccache coverage-gcc"
   release_exec:
     docker:
-      - image: rosplanning/navigation2:main.release
+      - image: rosplanning/navigation2:main
     working_directory: /opt/overlay_ws
     environment:
       <<: *common_environment

.dockerhub/release/hooks/build → .dockerhub/builder/hooks/build

@@ -1,16 +1,14 @@
 #!/bin/bash
 set -ex
-rm -rf ../../.dockerignore
 
-export FROM_IMAGE=ros:rolling
+export FROM_IMAGE=osrf/ros2:nightly-rmw-nonfree
 export FAIL_ON_BUILD_FAILURE=""
 export UNDERLAY_MIXINS="release ccache"
-export OVERLAY_MIXINS="release ccache"
 
 docker build \
+    --target builder \
     --tag ${IMAGE_NAME} \
     --build-arg FROM_IMAGE \
     --build-arg FAIL_ON_BUILD_FAILURE \
     --build-arg UNDERLAY_MIXINS \
-    --build-arg OVERLAY_MIXINS \
     --file ../../Dockerfile ../../.

Dockerfile

@@ -6,7 +6,7 @@
 # docker build -t nav2:latest \
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=ros:rolling
+ARG FROM_IMAGE=osrf/ros2:nightly
 ARG UNDERLAY_WS=/opt/underlay_ws
 ARG OVERLAY_WS=/opt/overlay_ws
 
@@ -34,26 +34,29 @@ RUN mkdir -p /tmp/opt && \
 
 # multi-stage for building
 FROM $FROM_IMAGE AS builder
+
+# config dependencies install
 ARG DEBIAN_FRONTEND=noninteractive
+RUN echo '\
+APT::Install-Recommends "0";\n\
+APT::Install-Suggests "0";\n\
+' > /etc/apt/apt.conf.d/01norecommend
 
 # install CI dependencies
-ARG RTI_NC_LICENSE_ACCEPTED=yes
 RUN apt-get update && \
     apt-get upgrade -y && \
     apt-get install -y \
       ccache \
       lcov \
       python3-pip \
-      ros-$ROS_DISTRO-rmw-fastrtps-cpp \
-      ros-$ROS_DISTRO-rmw-connextdds \
-      ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
     && pip3 install \
-      git+https://github.com/ruffsl/colcon-cache.git@13c424c3a455ae04d1a4176a54c49a9d20c9dca0 \
+      git+https://github.com/ruffsl/colcon-cache.git@c1cedadc1ac6131fe825d075526ed4ae8e1b473c \
     && rosdep update \
     && rm -rf /var/lib/apt/lists/*
 
 # install underlay dependencies
 ARG UNDERLAY_WS
+ENV UNDERLAY_WS $UNDERLAY_WS
 WORKDIR $UNDERLAY_WS
 COPY --from=cacher /tmp/$UNDERLAY_WS ./
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
@@ -79,6 +82,7 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
 
 # install overlay dependencies
 ARG OVERLAY_WS
+ENV OVERLAY_WS $OVERLAY_WS
 WORKDIR $OVERLAY_WS
 COPY --from=cacher /tmp/$OVERLAY_WS ./
 RUN . $UNDERLAY_WS/install/setup.sh && \
@@ -91,6 +95,9 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
+# multi-stage for testing
+FROM builder AS tester
+
 # build overlay source
 COPY --from=cacher $OVERLAY_WS ./
 ARG OVERLAY_MIXINS="release ccache"
@@ -102,8 +109,6 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
     || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
 
 # source overlay from entrypoint
-ENV UNDERLAY_WS $UNDERLAY_WS
-ENV OVERLAY_WS $OVERLAY_WS
 RUN sed --in-place \
       's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
       /ros_entrypoint.sh

tools/underlay.repos

@@ -1,24 +1,24 @@
 repositories:
-  # BehaviorTree/BehaviorTree.CPP:
-  #   type: git
-  #   url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-  #   version: master
-  # ros/angles:
-  #   type: git
-  #   url: https://github.com/ros/angles.git
-  #   version: ros2
-  # ros-simulation/gazebo_ros_pkgs:
-  #   type: git
-  #   url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-  #   version: ros2
-  # ros-perception/vision_opencv:
-  #   type: git
-  #   url: https://github.com/ros-perception/vision_opencv.git
-  #   version: ros2
-  # ros/bond_core:
-  #   type: git
-  #   url: https://github.com/ros/bond_core.git
-  #   version: ros2
+  BehaviorTree/BehaviorTree.CPP:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: master
+  ros/angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  ros-simulation/gazebo_ros_pkgs:
+    type: git
+    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
+    version: ros2
+  ros-perception/vision_opencv:
+    type: git
+    url: https://github.com/ros-perception/vision_opencv.git
+    version: ros2
+  ros/bond_core:
+    type: git
+    url: https://github.com/ros/bond_core.git
+    version: ros2
   ompl/ompl:
     type: git
     url: https://github.com/ompl/ompl.git