Added a step for building and installing the SDK ROS nodes to the sys…

…tem FS of the SDK container
TexasInstruments · Sep 2, 2024 · 0a95f9d · 0a95f9d
1 parent 9cd39ac
commit 0a95f9d
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Showing 2 changed files with 30 additions and 1 deletion.
diff --git a/.github/workflows/docker-build-pc.yml b/.github/workflows/docker-build-pc.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
 
 env:
-  SDK_DIR: /home/runner/work/robotics_sdk
+  SDK_DIR: /home/runner/j7ros_home/ros_ws/src/robotics_sdk
   REPO_URL: https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git
   REPO_TAG: REL.10.00.00
   # only for testing
@@ -32,8 +32,12 @@ jobs:
 
       - name: Clone SDK repository
         run: |
+          mkdir -p $HOME/j7ros_home/ros_ws/src
+          cd $HOME/j7ros_home/ros_ws/src
           git clone --branch ${{ env.REPO_TAG }} --single-branch ${{ env.REPO_URL }} ${{ env.SDK_DIR }}
           # gh repo clone robotics_sdk ${{ env.SDK_DIR }} -- --branch ${{ env.REPO_BRANCH }}
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2
 
       - name: Set up Docker build script
         run: |
@@ -58,6 +62,29 @@ jobs:
           cd $HOME/j7ros_home
           ./docker_build.sh
 
+      - name: Build and install the SDK ROS nodes
+        run: |
+          docker images
+          cd $HOME/j7ros_home
+          # create docker_run_commit.sh
+          script_file=docker_run_commit.sh
+          cp docker_run.sh $script_file
+          sed -i 's/docker run -it --rm \\/docker run --platform linux\/amd64 \\/' $script_file
+          sed -i '/xhost +local:$USER/d' $script_file
+          sed -i '/xhost -local:$USER/d' $script_file
+          echo 'CONTAINER_ID=$(docker ps -a --filter "ancestor=$DOCKER_TAG" --format "{{.ID}}" | head -n 1)' >> $script_file
+          echo 'docker tag $DOCKER_TAG ${DOCKER_TAG}-org' >> $script_file
+          echo 'docker commit $CONTAINER_ID ${DOCKER_TAG}' >> $script_file
+          more $script_file
+          # build and install the SDK ROS nodes
+          ./docker_run_commit.sh ls -l /root/j7ros_home/ros_ws/src/robotics_sdk/ros2
+          ./docker_run_commit.sh colcon build \
+            --base-paths /root/j7ros_home/ros_ws/src/robotics_sdk/ros2 \
+            --cmake-force-configure \
+            --packages-skip ti_external ti_vision_cnn ti_sde ti_estop ti_vl ti_objdet_range ti_ros_gst_plugins \
+            --install-base /opt/ros/humble
+          docker images
+
       - name: Add a Docker label
         run: |
           docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz

diff --git a/.github/workflows/docker-build-stage2.yml b/.github/workflows/docker-build-stage2.yml
@@ -46,6 +46,8 @@ jobs:
         run: |
           git clone --branch ${{ env.REPO_TAG }} --single-branch ${{ env.REPO_URL }} ${{ env.SDK_DIR }}
           # gh repo clone robotics_sdk ${{ env.SDK_DIR }} -- --branch ${{ env.REPO_BRANCH }}
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2
 
       - name: Set up Docker build script
         run: |