osrf · ruffsl · Jun 28, 2018
diff --git a/ros/.config/Makefile.em → ros/.config/v1/Makefile.em b/ros/.config/Makefile.em → ros/.config/v1/Makefile.em
diff --git a/ros/.config/images.yaml.em → ros/.config/v1/images.yaml.em b/ros/.config/images.yaml.em → ros/.config/v1/images.yaml.em
diff --git a/ros/.config/platform.yaml.em → ros/.config/v1/platform.yaml.em b/ros/.config/platform.yaml.em → ros/.config/v1/platform.yaml.em
diff --git a/ros/.config/v2/Makefile.em b/ros/.config/v2/Makefile.em
@@ -0,0 +1,34 @@
+all: help
+
+help:
+	@echo ""
+	@echo "-- Help Menu"
+	@echo ""
+	@echo "   1. make build            - build all images"
+	@echo "   2. make pull             - pull all images"
+	@echo "   3. make clean            - remove all images"
+	@echo ""
+
+build:
+	@docker build --tag=ros:$release_name-ros-core-$os_code_name          ros-core/.
+	@docker build --tag=ros:$release_name-ros-base-$os_code_name          ros-base/.
+	@docker build --tag=ros:$release_name-robot-$os_code_name             robot/.
+	@docker build --tag=ros:$release_name-perception-$os_code_name        perception/.
+	# @docker build --tag=osrf/ros:$release_name-desktop-$os_code_name      desktop/.
+	# @docker build --tag=osrf/ros:$release_name-desktop-full-$os_code_name desktop-full/.
+
+pull:
+	@docker pull ros:$release_name-ros-core-$os_code_name
+	@docker pull ros:$release_name-ros-base-$os_code_name
+	@docker pull ros:$release_name-robot-$os_code_name
+	@docker pull ros:$release_name-perception-$os_code_name
+	# @docker pull osrf/ros:$release_name-desktop-$os_code_name
+	# @docker pull osrf/ros:$release_name-desktop-full-$os_code_name
+
+clean:
+	@docker rmi -f ros:$release_name-ros-core-$os_code_name
+	@docker rmi -f ros:$release_name-ros-base-$os_code_name
+	@docker rmi -f ros:$release_name-robot-$os_code_name
+	@docker rmi -f ros:$release_name-perception-$os_code_name
+	# @docker rmi -f osrf/ros:$release_name-desktop-$os_code_name
+	# @docker rmi -f osrf/ros:$release_name-desktop-full-$os_code_name
diff --git a/ros/.config/v2/images.yaml.em b/ros/.config/v2/images.yaml.em
@@ -0,0 +1,56 @@
+%YAML 1.1
+# ROS Dockerfile database
+---
+images:
+    ros-core:
+        base_image: @(os_name):@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_ros_core_image.Dockerfile.em
+        entrypoint_name: docker_images/ros_entrypoint.sh
+        template_packages:
+            - docker_templates
+        ros_packages:
+            - ros-core
+    ros-base:
+        base_image: @(user_name):@(rosdistro_name)-ros-core-@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_ros_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        ros_packages:
+            - ros-base
+    robot:
+        base_image: @(user_name):@(rosdistro_name)-ros-base-@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_ros_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        ros_packages:
+            - robot
+    perception:
+        base_image: @(user_name):@(rosdistro_name)-ros-base-@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_ros_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        ros_packages:
+            - perception
+    desktop:
+        base_image: @(user_name):@(rosdistro_name)-robot-@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_ros_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        ros_packages:
+            - desktop
+        post_env:
+            NVIDIA_VISIBLE_DEVICES: "${NVIDIA_VISIBLE_DEVICES:-all}"
+            NVIDIA_DRIVER_CAPABILITIES: "${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics"
+    desktop-full:
+        base_image: osrf/@(user_name):@(rosdistro_name)-desktop-@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_ros_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        ros_packages:
+            - desktop-full
diff --git a/ros/.config/v2/platform.yaml.em b/ros/.config/v2/platform.yaml.em
@@ -0,0 +1,13 @@
+%YAML 1.1
+# ROS Dockerfile database
+---
+platform:
+    os_name: $os_name
+    os_code_name: $os_code_name
+    rosdistro_name: $release_name
+    user_name: ros
+    maintainer_name:
+    arch: amd64
+    type: distribution
+    version:
+    release: ros
diff --git a/ros/manifest.yaml b/ros/manifest.yaml
@@ -11,11 +11,17 @@ defaults:
         hook_names:
             post_push: .hooks/legacy/post_push.em
 
-    default: &DEFAULT
-        templates: &DEFAULT_TEMPLATES
-            images: .config/images.yaml.em
-            makefile: .config/Makefile.em
-            platform: .config/platform.yaml.em
+    default: &DEFAULT_V1
+        templates: &DEFAULT_TEMPLATES_V1
+            images: .config/v1/images.yaml.em
+            makefile: .config/v1/Makefile.em
+            platform: .config/v1/platform.yaml.em
+
+    default: &DEFAULT_V2
+        templates: &DEFAULT_TEMPLATES_V2
+            images: .config/v2/images.yaml.em
+            makefile: .config/v2/Makefile.em
+            platform: .config/v2/platform.yaml.em
 
     default: &DEFAULT_LEGACY
         templates: &DEFAULT_TEMPLATES_LEGACY
@@ -100,7 +106,7 @@ release_names:
             ubuntu:
                 os_code_names:
                     trusty:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                             - arm32v7
@@ -128,7 +134,7 @@ release_names:
             ubuntu:
                 os_code_names:
                     trusty:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                             - arm32v7
@@ -157,7 +163,7 @@ release_names:
             ubuntu:
                 os_code_names:
                     xenial:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                             - arm32v7
@@ -183,7 +189,7 @@ release_names:
             debian:
                 os_code_names:
                     jessie:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                             - arm64v8
@@ -207,7 +213,7 @@ release_names:
             ubuntu:
                 os_code_names:
                     xenial:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                             - arm32v7
@@ -231,7 +237,7 @@ release_names:
                                     - "$release_name-perception"
                                     - "$release_name-perception-$os_code_name"
                     zesty:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                         tag_names:
@@ -251,7 +257,7 @@ release_names:
             debian:
                 os_code_names:
                     stretch:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V1
                         archs:
                             - amd64
                             - arm64v8
@@ -274,7 +280,7 @@ release_names:
             ubuntu:
                 os_code_names:
                     bionic:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V2
                         archs:
                             - amd64
                             - arm32v7
@@ -301,7 +307,7 @@ release_names:
             debian:
                 os_code_names:
                     stretch:
-                        <<: *DEFAULT
+                        <<: *DEFAULT_V2
                         archs:
                             - amd64
                             - arm64v8

diff --git a/ros/melodic/debian/stretch/desktop/Dockerfile b/ros/melodic/debian/stretch/desktop/Dockerfile
@@ -7,3 +7,6 @@ RUN apt-get update && apt-get install -y \
     ros-melodic-desktop=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
+# set environment variables
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
diff --git a/ros/melodic/debian/stretch/images.yaml.em b/ros/melodic/debian/stretch/images.yaml.em
@@ -43,6 +43,9 @@ images:
             - docker_templates
         ros_packages:
             - desktop
+        post_env:
+            NVIDIA_VISIBLE_DEVICES: "${NVIDIA_VISIBLE_DEVICES:-all}"
+            NVIDIA_DRIVER_CAPABILITIES: "${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics"
     desktop-full:
         base_image: osrf/@(user_name):@(rosdistro_name)-desktop-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/melodic/ubuntu/bionic/desktop/Dockerfile b/ros/melodic/ubuntu/bionic/desktop/Dockerfile
@@ -7,3 +7,6 @@ RUN apt-get update && apt-get install -y \
     ros-melodic-desktop=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
+# set environment variables
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
diff --git a/ros/melodic/ubuntu/bionic/images.yaml.em b/ros/melodic/ubuntu/bionic/images.yaml.em
@@ -43,6 +43,9 @@ images:
             - docker_templates
         ros_packages:
             - desktop
+        post_env:
+            NVIDIA_VISIBLE_DEVICES: "${NVIDIA_VISIBLE_DEVICES:-all}"
+            NVIDIA_DRIVER_CAPABILITIES: "${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics"
     desktop-full:
         base_image: osrf/@(user_name):@(rosdistro_name)-desktop-@(os_code_name)
         maintainer_name: @(maintainer_name)