Jkeller/robot dockerfile bugfix (#197)

* trying to debug libimath problem * debugging * fixed bug in arg usage * fixed issue where apt installing libimath-dev for the sim robot was causing necessary ros2 packages from being automatically removed, breaking the build. This issue doesn't happen when libimath-dev is installed on the jetsons --------- Co-authored-by: caomuqing <[email protected]>
castacks · Jan 29, 2025 · 8fc845f · 8fc845f
1 parent 8f76293
commit 8fc845f
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diff --git a/robot/docker/Dockerfile.robot b/robot/docker/Dockerfile.robot
@@ -110,7 +110,7 @@ RUN apt remove -y libopenvdb*; \
     cd ..; rm -rf /opt/openvdb/build
 
 # Add ability to SSH
-RUN apt-get update && apt-get install -y openssh-server libimath-dev
+RUN apt-get update && apt-get install -y openssh-server
 RUN mkdir /var/run/sshd
 
 # Password is airstack
@@ -120,7 +120,18 @@ RUN sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/' /etc/ssh/
 RUN sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
 
 EXPOSE 22
-
+
+ARG REAL_ROBOT=false
+RUN if [ "$REAL_ROBOT"  = "true" ]; then \
+  # Put commands here that should run for the real robot but not the sim
+
+  echo "REAL_ROBOT is true"; \
+  apt-get update && apt-get install -y libimath-dev; \
+else \
+  # Put commands here that should be run for the sim but not the real robot
+
+  echo "REAL_ROBOT is false"; \
+fi
 
 # Cleanup. Prevent people accidentally doing git commits as root in Docker
 RUN apt purge git -y \

diff --git a/robot/docker/docker-compose.yaml b/robot/docker/docker-compose.yaml
@@ -47,6 +47,7 @@ services:
       dockerfile: ./Dockerfile.robot
       args:
         BASE_IMAGE: nvcr.io/nvidia/l4t-jetpack:r36.4.0
+        REAL_ROBOT: true
       tags:
         - *l4t_image
     # we use tmux send-keys so that the session stays alive