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Merged
Rezenders merged 2 commits into from
Oct 3, 2026
Merged

Docker reduce size #182

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4c0560e
🐋 improve docker stages order
Rezenders Oct 3, 2026
e84064b
reducing docker images size
Rezenders Oct 3, 2026
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57 changes: 38 additions & 19 deletions docker/dockerfile-suave
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
# syntax=docker/dockerfile:1
ARG BASE_IMAGE="ghcr.io/kas-lab/kasm-jammy:latest"
FROM $BASE_IMAGE

Expand All @@ -23,7 +24,7 @@ RUN apt update && apt install -y \
libglx-mesa0 \
bash-completion \
python3-pip \
&& rm -rf /var/lib/apt/list/
&& rm -rf /var/lib/apt/lists/*

# Set the locale
RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
Expand Down Expand Up @@ -75,22 +76,30 @@ WORKDIR $HOME
# Git commit SHAs — passed in by build_docker_images.sh from docker/versions.env
ARG ARDUSUB_COMMIT=571e8c7bd3793fce1bc5184a2f6586feb8a616e5
ARG ARDUPILOT_GAZEBO_COMMIT=082a0fe231f6e63bc8d1598f1cba461d9e2ea7f5
COPY --chown=ubuntu-user:kasm-user requirements.txt $HOME/requirements.txt

# Install ArduSub
RUN git clone https://github.com/ArduPilot/ardupilot.git
# Install ArduSub. Only the pinned commit is fetched: waf needs .git for
# `git rev-parse HEAD` and submodule checks, but not the project history.
RUN mkdir $HOME/ardupilot && cd $HOME/ardupilot \
&& git init -q \
&& git remote add origin https://github.com/ArduPilot/ardupilot.git \
&& git fetch -q --depth 1 origin $ARDUSUB_COMMIT \
&& git checkout -q FETCH_HEAD \
&& git submodule update --init --recursive
WORKDIR $HOME/ardupilot
RUN git checkout $ARDUSUB_COMMIT
RUN git submodule update --init --recursive

RUN USER=kasm-user Tools/environment_install/install-prereqs-ubuntu.sh -y
RUN pip3 install -r $HOME/requirements.txt
# DO_AP_STM_ENV=0 skips the STM32 firmware toolchain; SITL builds with the host g++.
RUN USER=kasm-user DO_AP_STM_ENV=0 Tools/environment_install/install-prereqs-ubuntu.sh -y \
&& sudo rm -rf /var/lib/apt/lists/* $HOME/.cache/pip

# Copied here rather than earlier so a pin change keeps the clone and prereqs
# layers; it must still precede the waf build, which needs the pinned empy.
COPY --chown=kasm-user:kasm-user requirements.txt $HOME/requirements.txt
RUN pip3 install --no-cache-dir -r $HOME/requirements.txt

ENV PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH
ENV PATH=$PATH:$HOME/ardupilot/Tools/autotest
ENV PATH=/usr/lib/ccache:$PATH

RUN ["/bin/bash","-c","cd $HOME/ardupilot && ./waf configure && make sub"]
RUN ["/bin/bash","-c","cd $HOME/ardupilot && ./waf configure && make sub && ccache -C"]

# install ardupilot gazebo plugin
RUN sudo apt update && sudo apt install -y \
Expand All @@ -102,7 +111,7 @@ RUN sudo apt update && sudo apt install -y \
gstreamer1.0-plugins-bad \
gstreamer1.0-libav \
gstreamer1.0-gl \
&& sudo rm -rf /var/lib/apt/list/
&& sudo rm -rf /var/lib/apt/lists/*

WORKDIR $HOME
RUN git clone https://github.com/ArduPilot/ardupilot_gazebo && \
Expand All @@ -121,7 +130,20 @@ COPY --chown=kasm-user:kasm-user suave.repos $HOME/suave_ws/suave.repos
WORKDIR $HOME/suave_ws/
RUN vcs import src < suave.repos --recursive

# Install suave deps from the package manifests alone, so editing sources
# does not rerun rosdep or geographiclib.
RUN rm -rf $HOME/suave_ws/src/suave/
COPY --parents --chown=kasm-user:kasm-user suave*/package.xml suave_managing/*/package.xml $HOME/suave_ws/src/suave/

WORKDIR $HOME/suave_ws
RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
&& sudo apt update \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y \
&& sudo rm -rf /var/lib/apt/lists/* /root/.cache"]

RUN ["/bin/bash", "-c", "sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh"]

COPY --chown=kasm-user:kasm-user suave/ $HOME/suave_ws/src/suave/suave/
COPY --chown=kasm-user:kasm-user suave_bringup/ $HOME/suave_ws/src/suave/suave_bringup/
COPY --chown=kasm-user:kasm-user suave_managing/ $HOME/suave_ws/src/suave/suave_managing/
Expand All @@ -135,24 +157,21 @@ COPY --chown=kasm-user:kasm-user suave_base/ $HOME/suave_ws/src/suave/suave_base
COPY --chown=kasm-user:kasm-user suave_cli/ $HOME/suave_ws/src/suave/suave_cli/
COPY --chown=kasm-user:kasm-user env.sh $HOME/suave_ws/src/suave/env.sh

# Install suave deps
WORKDIR $HOME/suave_ws
RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y"]

RUN ["/bin/bash", "-c", "sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh"]

# Build suave
RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
&& colcon build --symlink-install \
&& ccache -C \
&& echo 'source ~/suave_ws/install/setup.bash' >> ~/.bashrc"]


RUN sudo apt autoremove -y && sudo rm -rf /var/lib/apt/lists/

COPY --chown=kasm-user:kasm-user runner/ $HOME/suave_ws/src/suave/runner/

# User-level pip scripts (mavproxy.py for sim_vehicle.py) must resolve in
# non-login shells too; appended so it never shadows system tools.
ENV PATH=${PATH}:${HOME}/.local/bin

# suave CLI: on PATH in every shell, including docker exec
ENV SUAVE_ROOT=/home/kasm-user/suave_ws/src/suave
ENV SUAVE_CLI_CONTEXT=container
Expand Down
65 changes: 40 additions & 25 deletions docker/dockerfile-suave-headless
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
# syntax=docker/dockerfile:1
# Use the official ROS 2 Humble base image.
FROM ros:humble-ros-core-jammy

Expand Down Expand Up @@ -59,22 +60,28 @@ WORKDIR $HOME
ARG ARDUSUB_COMMIT=571e8c7bd3793fce1bc5184a2f6586feb8a616e5
ARG ARDUPILOT_GAZEBO_COMMIT=082a0fe231f6e63bc8d1598f1cba461d9e2ea7f5

COPY --chown=ubuntu-user:ubuntu-user requirements.txt $HOME/requirements.txt

# Install ArduSub
RUN git clone https://github.com/ArduPilot/ardupilot.git
# Install ArduSub. Only the pinned commit is fetched: waf needs .git for
# `git rev-parse HEAD` and submodule checks, but not the project history.
RUN mkdir $HOME/ardupilot && cd $HOME/ardupilot \
&& git init -q \
&& git remote add origin https://github.com/ArduPilot/ardupilot.git \
&& git fetch -q --depth 1 origin $ARDUSUB_COMMIT \
&& git checkout -q FETCH_HEAD \
&& git submodule update --init --recursive
WORKDIR $HOME/ardupilot
RUN git checkout $ARDUSUB_COMMIT
RUN git submodule update --init --recursive
RUN USER=ubuntu-user Tools/environment_install/install-prereqs-ubuntu.sh -y
# DO_AP_STM_ENV=0 skips the STM32 firmware toolchain. SITL builds with the host g++.
RUN USER=ubuntu-user DO_AP_STM_ENV=0 Tools/environment_install/install-prereqs-ubuntu.sh -y \
&& sudo rm -rf /var/lib/apt/lists/* $HOME/.cache/pip

RUN sudo pip3 install -r $HOME/requirements.txt
# Copied here rather than earlier so a pin change keeps the clone and prereqs
# layers. It must still precede the waf build, which needs the pinned empy.
COPY --chown=ubuntu-user:ubuntu-user requirements.txt $HOME/requirements.txt
RUN pip3 install --no-cache-dir -r $HOME/requirements.txt

ENV PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH
ENV PATH=$PATH:$HOME/ardupilot/Tools/autotest
ENV PATH=/usr/lib/ccache:$PATH

RUN ["/bin/bash", "-c", "cd $HOME/ardupilot && ./waf configure && make sub"]
RUN ["/bin/bash", "-c", "cd $HOME/ardupilot && ./waf configure && make sub && ccache -C"]

# ArduPilot Gazebo plugin dependencies
RUN sudo apt-get update && sudo apt-get install -y \
Expand All @@ -100,13 +107,30 @@ RUN git clone https://github.com/ArduPilot/ardupilot_gazebo && \
ENV GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build
ENV GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds

# Import external dependencies from suave.repos, then copy this checkout.
# Import external dependencies from suave.repos.
RUN mkdir -p $HOME/suave_ws/src
COPY --chown=ubuntu-user:ubuntu-user suave.repos $HOME/suave_ws/suave.repos
WORKDIR $HOME/suave_ws
RUN vcs import src < suave.repos --recursive

# Resolve dependencies from the package manifests alone, so editing sources
# does not rerun rosdep, geographiclib or pip.
RUN rm -rf $HOME/suave_ws/src/suave && mkdir -p $HOME/suave_ws/src/suave
COPY --parents --chown=ubuntu-user:ubuntu-user suave*/package.xml suave_managing/*/package.xml $HOME/suave_ws/src/suave/

RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
&& sudo apt update \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y \
&& sudo rm -rf /var/lib/apt/lists/ /root/.cache"]

RUN ["/bin/bash", "-c", "sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh"]

# ArduPilot installs a newer user-local flake8 which is incompatible with the
# Ubuntu Jammy flake8 plugins used by the ROS 2 Humble lint environment.
RUN pip3 install --no-cache-dir flake8==4.0.1

# Copy this checkout.
COPY --chown=ubuntu-user:ubuntu-user suave/ $HOME/suave_ws/src/suave/suave/
COPY --chown=ubuntu-user:ubuntu-user suave_bringup/ $HOME/suave_ws/src/suave/suave_bringup/
COPY --chown=ubuntu-user:ubuntu-user suave_managing/ $HOME/suave_ws/src/suave/suave_managing/
Expand All @@ -121,26 +145,17 @@ COPY --chown=ubuntu-user:ubuntu-user suave_base/ $HOME/suave_ws/src/suave/suave_
COPY --chown=ubuntu-user:ubuntu-user suave_cli/ $HOME/suave_ws/src/suave/suave_cli/
COPY --chown=ubuntu-user:ubuntu-user env.sh $HOME/suave_ws/src/suave/env.sh

RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
&& sudo apt update \
&& rosdep update \
&& rosdep install --from-paths src --ignore-src -r -y \
&& sudo rm -rf /var/lib/apt/lists/"]

RUN ["/bin/bash", "-c", "sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh"]

RUN pip3 install -r $HOME/requirements.txt

# ArduPilot installs a newer user-local flake8 which is incompatible with the
# Ubuntu Jammy flake8 plugins used by the ROS 2 Humble lint environment.
RUN pip3 install flake8==4.0.1

RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
&& colcon build --symlink-install \
&& ccache -C \
&& echo 'source ~/suave_ws/install/setup.bash' >> ~/.bashrc"]

RUN sudo apt autoremove -y && sudo rm -rf /var/lib/apt/lists/

# User-level pip scripts (mavproxy.py for sim_vehicle.py) must resolve in
# non-login shells too; appended so it never shadows system tools.
ENV PATH=${PATH}:${HOME}/.local/bin

# suave CLI: on PATH in every shell, including docker exec
ENV SUAVE_ROOT=/home/ubuntu-user/suave_ws/src/suave
ENV SUAVE_CLI_CONTEXT=container
Expand Down
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