17 lines
848 B
Docker
17 lines
848 B
Docker
# Reuse the already-built pinned upstream image. The caller supplies its exact
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# sha256 through a local immutable build tag; no model images are replaced.
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ARG CMU_BASE
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FROM ${CMU_BASE}
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LABEL com.nodedc.product="mission-core" \
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com.nodedc.stack="ai-polygon" \
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com.nodedc.role="terrain-navigation" \
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com.nodedc.managed-by="ai-polygon-worker" \
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com.nodedc.navigation-adapter="rectangular-primitive-filter-v3"
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COPY missioncore_footprint.hpp /opt/cmu/src/local_planner/src/missioncore_footprint.hpp
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COPY patch_footprint.py /opt/cmu/patch_footprint.py
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WORKDIR /opt/cmu
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RUN python3 patch_footprint.py && source /opt/ros/humble/setup.bash \
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&& MAKEFLAGS=-j2 colcon build --base-paths src --packages-select local_planner \
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--parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
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WORKDIR /adapter
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