Initial commit

.copier/answers.meta.yml

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+# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
+_commit: v1.0.0
+_src_path: https://git.spirirobotics.com/Spiri/template-meta.git
+project_name: service-ros1-catkin

README.md

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+This is a template for use with [copier](https://github.com/copier-org/copier).
+
+To get started run `copier copy https://git.spirirobotics.com/Spiri/template-service-ros1-catkin.git ./` inside your git repo.
+
+If copier overwrites files you can use `git difftool` to see what changes it has made.
+
+You can use `find .copier/ -type f -exec copier update --skip-answered -a {} \;` to update all applied templates.
+

copier.yml

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+_subdirectory: src
+_answers_file: .copier/answers.service-ros1-catkin.yml
+RUN_COMMAND: /launch video_stream_opencv stereo_cameras.launch port_camera_device:="/dev/video0" starboard_camera_device:="/dev/video1" 
+SOURCE: ./
+HEALTHCHECK: --start-period=60s CMD /ros_entrypoint.sh rostopic list

src/.copier/answers.dockerbuild.yml

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+# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
+_commit: v1.1.2
+_src_path: https://git.spirirobotics.com/Spiri/template-dockerbuild.git
+platforms: linux/amd64,linux/arm64

src/.copier/{{ _copier_conf.answers_file }}.jinja

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+# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
+{{ _copier_answers|to_nice_yaml -}}

src/.github/workflows/build-docker.yaml

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+
+name: Create and publish a Docker image
+
+on:
+  push:
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: git.spirirobotics.com
+  IMAGE_NAME: ${{ github.repository }}
+
+# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    container: ghcr.io/catthehacker/ubuntu:act-latest
+
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      # 
+    steps:
+      #- name: install docker
+      #  run: apt install moby-cli -y    
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+          submodules: true
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.WORKFLOW_REGISTRY_TOKEN }}
+      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      # - name: Set up QEMU
+      #   uses: docker/setup-qemu-action@v2
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        env:
+          #Hack for gitea/github weirdness.
+          ACTIONS_RUNTIME_TOKEN: ''
+        with:
+          context: .
+
+          platforms: linux/amd64,linux/arm64
+
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+
+

src/Dockerfile.jinja

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+# Stage 1: Build Stage
+FROM git.spirirobotics.com/spiri/services-ros1-core:main AS builder
+
+RUN apt-get update --yes && apt-get install --yes git build-essential 
+  # ros-noetic-cv-bridge \
+  # ros-noetic-vision-opencv \
+  # ros-noetic-image-transport
+
+RUN apt-get install --yes python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
+
+WORKDIR /root/catkin_ws/src
+
+{% if SOURCE.startwith("git+") %}
+RUN git clone https://github.com/ros-drivers/video_stream_opencv.git
+{% else %}
+COPY {{SOURCE}} ./
+{% endif %}
+
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep init"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep update"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep install --from-paths src -y"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make install"
+
+# # Stage 2: Runtime Stage
+# FROM git.spirirobotics.com/spiri/services-ros1-core:main
+#
+# # Copy only the built artifacts from the previous stage
+# COPY --from=builder /root/catkin_ws/devel /root/catkin_ws/devel
+
+# Set the working directory
+WORKDIR /root/catkin_ws
+
+
+RUN apt-get clean
+HEALTHCHECK {{HEALTHCHECK}}
+
+# Command to run your application
+CMD {{RUN_COMMAND}}
+