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readme.md

\page install-docker Docker build

Usage instructions for Docker

Here there are instructions on how to build and run the FSW using Docker.

The docker image for the astrobee FSW is divided throughout 2 docker files.

Available docker files:

astrobee_base_kinetic - Contains installation of all astrobee dependencies the Ubuntu 16.04 + ROS kinetic setup.
astrobee_base_melodic - Contains installation of all astrobee dependencies the Ubuntu 18.04 + ROS melodic setup.

astrobee_kinetic - Builds the astrobee FSW code on top of astrobee_base_kinetic.
astrobee_melodic - Builds the astrobee FSW code on top of astrobee_base_melodic.

rebuild_and_test_astrobee_kinetic - Rebuilds the astrobee FSW code on top of astrobee_kinetic and performs the unit tests. This makes for a faster rebuild leveraging the cached data and rebuilding only the nodes that were changed, for testing purposes only.
rebuild_and_test_astrobee_melodic - Rebuilds the astrobee FSW code on top of astrobee_melodic and performs the unit tests. This makes for a faster rebuild leveraging the cached data and rebuilding only the nodes that were changed, for testing purposes only.

Building the docker images

To build the docker images, run:

./build.sh

The option -n is used for ubuntu 18 docker images

Run the container

To run the docker container:

./run.sh

The option -n is used for ubuntu 18 docker images

To open another terminal inside the docker container:

docker exec -it astrobee bash

Once inside the container, don't forget to source astrobee to have access to all the commands:

source /build/astrobee/devel/setup.bash

To shutdown the docker container, run:

./shutdown.sh

Cross-compile Astrobee (NASA users only)

To cross-compile Astrobee, you will need to install a cross-compile chroot and toolchain. Select two directories for these:

export ARMHF_CHROOT_DIR=$HOME/arm_cross/rootfs
export ARMHF_TOOLCHAIN=$HOME/arm_cross/toolchain/gcc

Append these lines to your .bashrc file, as you will need these two variables every time you cross compile.

Next, download the cross toolchain and install the chroot:

mkdir -p $ARMHF_TOOLCHAIN
cd $HOME/arm_cross
$SOURCE_PATH/submodules/platform/fetch_toolchain.sh
$SOURCE_PATH/submodules/platform/rootfs/make_xenial.sh dev $ARMHF_CHROOT_DIR

From the root of the repository, run:

./scripts/docker/cross_compile/cross_compile.sh

The code will be cross-compiles inside the docker container in /opt/astrobee, and can be copied to the robot.

After the debian files are generated inside the docker image, they are copied to in order of priority:

  1. To the INSTALL_PATH, if defined
  2. To ${DIR}/../../../../astrobee_install/armhf/, if the directoy already exists, where $DIR is the directory where the cross_compile.sh script is located.
  3. To $HOME/astrobee_build/armhf otherwise

Building an Astrobee Debian (NASA users only)

This step assumes that the cross compile setup was successful and that ARMHF_CHROOT_DIR and ARMHF_TOOLCHAIN are defined. If not, please follow the cross-compile instructions.

To generate the debians, from the root of the repository, run:

./scripts/docker/cross_compile/debian_compile.sh

After the debian files are generated inside the docker image, they are copied to the folder before the root of the repository, ${DIR}/../../../../, where $DIR is the directory where the debian_compile.sh script is located.