Builder refactor with Python and the ability to layer builds #23
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@shuhaowu, thank you! Let us know if you need any help! |
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Thanks! I should be good. Hopefully at some point this week I'll have a bit of time to finalize this. |
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@LanderU @carlossvg This PR is ready to review. I also updated the description of this PR to link to the docs, as well as document what's deferred to a future PR.
I'm testing the image right now (dding to an SD card takes a bit of time... 🕐). It should work, and I'll report back either way.
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I want to convert this script into a proper command line app. However, it's not that urgent and it will take a bit more time. I would like to get this merged first so we can iterate on other things that needs to be done.
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| os.path.join(self.chroot_path, "etc", "resolv.conf") | ||
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Not 100% certain if this works on Ubuntu. (I'm testing my builder primarily on Ubuntu for now). I think it should because the container is setup via systemd-nspawn but it is not in an network namespace.
| # TODO: same as qemu_user_static_path. This should be specified via | ||
| # command-line arguments as opposed to build configuration. | ||
| # Uncomment this if you want to pause the builder after a particular stage to | ||
| # debug/experiment. | ||
| # pause_after = cleanup_chroot |
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Once we have a command line tool, this and qemu_user_static_path will move out of here.
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| #!/bin/bash | |||
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| # At this point in time, the rootfs at CHROOT_PATH should be fully setup and usable as a cross compile toolchain sysroot. | |||
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Just a place holder file for now
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The image works after testing. |
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@shuhaowu This is great work, thanks a lot! I just have a couple of suggestions for the follow-up PRs:
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@shuhaowu BTW, I tested the image and all is working for me. LGTM |
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| output_filename = ubuntu-20.04.4-rt-ros2-arm64+raspi.img | ||
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| [env] | ||
| ROS_DISTRO = galactic |
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This can cause an error if you already source a ROS 2 ws, right?
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This is only used for the builder script. It's not for the image. That said, we do have this script which probably should be updated.
This is a port of the bash script to Python, with the added ability to overlay multiple directories on top of each other.
Since this is a relatively large PR that reworks the repo. I've updated the docs significantly with the design as well as a detailed usage guide (to customize the image builder). Please read it first as it will hopefully make reviewing the rest of the code a lot easier.
Stuff I don't want to do now but will do in future PRs as they're not super urgent:
qemu-user-staticandpause_afterconfigurations into the command line tool.