Dockerfile

# variable for distro name
ARG ROS_DISTRO=rolling

# import image using distro name
FROM ros:${ROS_DISTRO}-ros-core AS build-env

# assign environment variables
ENV DEBIAN_FRONTEND=noninteractive \
    BUILD_HOME=/var/lib/build \
    OUSTER_ROS_PATH=/opt/ros2_ws/src/ouster-ros

# install dependant packages
RUN set -xue \
    # Turn off installing extra packages globally to slim down rosdep install
    && echo 'APT::Install-Recommends "0";' > /etc/apt/apt.conf.d/01norecommend \
    && apt-get update           \
    && apt-get install -y       \
        build-essential         \
        cmake                   \
        fakeroot                \
        dpkg-dev                \
        debhelper               \
        python3-rosdep          \
        python3-rospkg          \
        python3-bloom           \
        python3-colcon-common-extensions

# Set up non-root build user
ARG BUILD_UID=1000
ARG BUILD_GID=${BUILD_UID}

RUN set -xe \
    && groupadd -o -g ${BUILD_GID} build \
    && useradd -o -u ${BUILD_UID} -d ${BUILD_HOME} -rm -s /bin/bash -g build build

# Set up build environment
COPY --chown=build:build . $OUSTER_ROS_PATH

# rosdep install 
RUN set -xe             \
    && apt-get update   \
    && rosdep init      \
    && rosdep update --rosdistro=$ROS_DISTRO \
    && rosdep install --from-paths $OUSTER_ROS_PATH -y --ignore-src


USER build:build
WORKDIR ${BUILD_HOME}

# copy source files to src dir
RUN set -xe      \
    && mkdir src \
    && cp -R $OUSTER_ROS_PATH ./src


FROM build-env

SHELL ["/bin/bash", "-c"]

RUN source /opt/ros/$ROS_DISTRO/setup.bash  \
    && colcon build                         \
        --symlink-install                   \
        --cmake-args                        \
        -DCMAKE_BUILD_TYPE=Release          \
        -DCMAKE_CXX_FLAGS="-Wno-deprecated-declarations"

RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon test \
    --ctest-args tests ouster_ros --rerun-failed --output-on-failure

# Entrypoint for running Ouster ros:
#
# Usage: docker run --rm -it ouster-ros [sensor.launch parameters ..]
#
ENTRYPOINT ["bash", "-c", "set -e   \
    && source ./install/setup.bash  \
    && ros2 launch ouster_ros sensor.launch.xml \"$@\" \
    ", "ros-entrypoint"]