I'm building ros2 humble from source on a Docker image. The target is an arm32v7 computer (Odroid XU4) I'm using rosinstall_generator to get ros_core packages. Using docker buildx I managed to build the image on my laptop PC, so far, so good. What should I do to reduce the size of the image?
# ARG is overridable by --build-arg
ARG UBUNTU_CODENAME=jammy
ARG ROS_DISTRO=humble
FROM arm32v7/ubuntu:${UBUNTU_CODENAME}
# NOTE: An ARG declared before a FROM is outside of a build stage, so it can’t be used in any instruction after a FROM.
# To use the default value of an ARG declared before the first FROM use an ARG instruction without a value inside of a build stage
ARG UBUNTU_CODENAME
ARG ROS_DISTRO
# Set locale
RUN apt-get update && apt-get install -y locales \
&& locale-gen en_US en_US.UTF-8 \
&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
&& rm -rf /var/lib/apt/lists/*
ENV LANG en_US.utf8
# ENV DEBIAN_FRONTEND=noninteractive
# Add the ROS 2 apt repository
RUN apt-get update && apt-get install -y software-properties-common \
&& add-apt-repository universe \
&& rm -rf /var/lib/apt/lists/*
RUN apt-get update && apt-get install -y curl \
&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
&& rm -rf /var/lib/apt/lists/*
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu ${UBUNTU_CODENAME} main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
# Por defecto se utiliza la timezone de Buenos Aires
ENV TZ=America/Argentina/Buenos_Aires
RUN ln -snf /usr/share/zoneinfo/${TZ} /etc/localtime && echo ${TZ} > /etc/timezone
# Install development tools and ROS tools
RUN apt-get update && apt-get install -y \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
ros-dev-tools \
&& rm -rf /var/lib/apt/lists/*
# install some pip packages needed for testing
RUN apt-get update && apt-get install -y \
python3-flake8-blind-except \
python3-flake8-builtins \
python3-flake8-class-newline \
python3-flake8-comprehensions \
python3-flake8-deprecated \
python3-flake8-import-order \
python3-flake8-quotes \
python3-pytest-repeat \
python3-pytest-rerunfailures \
&& rm -rf /var/lib/apt/lists/*
# Install latest cmake
RUN apt-get update && apt-get install -y gpg wget \
&& wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
&& echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ ${UBUNTU_CODENAME} main" | tee /etc/apt/sources.list.d/kitware.list >/dev/null \
&& apt-get update \
&& apt-get install -y cmake \
&& rm -rf /var/lib/apt/lists/*
COPY core.repos /ros2.repos
# Get ROS 2 code
RUN update-ca-certificates --fresh \
&& mkdir -p /root/ros2_ws/src \
# && wget https://raw.githubusercontent.com/ros2/ros2/${ROS_DISTRO}/ros2.repos \
&& vcs import --input ros2.repos /root/ros2_ws/src
# Install dependencies using rosdep
RUN apt-get update && apt-get upgrade -y \
&& update-ca-certificates --fresh \
&& rosdep init \
&& rosdep update \
&& rosdep install --from-paths /root/ros2_ws/src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" \
&& rm -rf /var/lib/apt/lists/*
RUN cd /root/ros2_ws && colcon build && rm -rf build log src
Doing a docker history I get:
IMAGE CREATED CREATED BY SIZE COMMENT
12b7ac1e8625 4 minutes ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 138MB buildkit.dockerfile.v0
<missing> 2 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 337MB buildkit.dockerfile.v0
<missing> 2 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 2.28GB buildkit.dockerfile.v0
<missing> 2 hours ago COPY core.repos /ros2.repos # buildkit 26.8kB buildkit.dockerfile.v0
<missing> 2 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 39.2MB buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 2.76MB buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 412MB buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 31B buildkit.dockerfile.v0
<missing> 20 hours ago ENV TZ=America/Argentina/Buenos_Aires 0B buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 118B buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 2.05MB buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 110MB buildkit.dockerfile.v0
<missing> 20 hours ago ENV LANG=en_US.utf8 0B buildkit.dockerfile.v0
<missing> 20 hours ago RUN |2 UBUNTU_CODENAME=jammy ROS_DISTRO=humb… 20.8MB buildkit.dockerfile.v0
<missing> 20 hours ago ARG ROS_DISTRO 0B buildkit.dockerfile.v0
<missing> 20 hours ago ARG UBUNTU_CODENAME 0B buildkit.dockerfile.v0
<missing> 2 weeks ago /bin/sh -c #(nop) CMD ["/bin/bash"] 0B
<missing> 2 weeks ago /bin/sh -c #(nop) ADD file:6767efafdb51cef2a… 56.4MB
<missing> 2 weeks ago /bin/sh -c #(nop) LABEL org.opencontainers.… 0B
<missing> 2 weeks ago /bin/sh -c #(nop) LABEL org.opencontainers.… 0B
<missing> 2 weeks ago /bin/sh -c #(nop) ARG LAUNCHPAD_BUILD_ARCH 0B
<missing> 2 weeks ago /bin/sh -c #(nop) ARG RELEASE 0B
If I understand right # Get ROS 2 code takes 2.28GB?? and rosdep takes 337 MB?
Is there a way to reduce that?
