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Split windows dockerfiles for different ROS distros. (#451)
1 parent 23ae3ce commit a7c41fb

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Lines changed: 167 additions & 4 deletions

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‎job_templates/ci_job.xml.em‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -103,6 +103,7 @@ colcon_branch: ${build.buildVariableResolver.resolve('CI_COLCON_BRANCH')}, <br/>
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use_whitespace: ${build.buildVariableResolver.resolve('CI_USE_WHITESPACE_IN_PATHS')}, <br/>
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isolated: ${build.buildVariableResolver.resolve('CI_ISOLATED')}, <br/>
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ubuntu_distro: ${build.buildVariableResolver.resolve('CI_UBUNTU_DISTRO')}, <br/>
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ros_distro: ${build.buildVariableResolver.resolve('CI_ROS_DISTRO')}, <br/>
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colcon_mixin_url: ${build.buildVariableResolver.resolve('CI_COLCON_MIXIN_URL')}, <br/>
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cmake_build_type: ${build.buildVariableResolver.resolve('CI_CMAKE_BUILD_TYPE')}, <br/>
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build_args: ${build.buildVariableResolver.resolve('CI_BUILD_ARGS')}, <br/>
@@ -357,8 +358,12 @@ setlocal enableDelayedExpansion
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rmdir /S /Q ws workspace "work space"
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echo "# BEGIN SECTION: Build DockerFile"
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set CONTAINER_NAME=ros2_windows_ci_msvc%CI_VISUAL_STUDIO_VERSION%
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set DOCKERFILE=windows_docker_resources\Dockerfile.msvc%CI_VISUAL_STUDIO_VERSION%
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@# Eloquent uses the Dashing Dockerfile.
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if "!CI_ROS_DISTRO!" == "eloquent" (
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set "CI_ROS_DISTRO=dashing"
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)
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set CONTAINER_NAME=ros2_windows_ci_%CI_ROS_DISTRO%
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set DOCKERFILE=windows_docker_resources\Dockerfile.%CI_ROS_DISTRO%
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rem "Change dockerfile once per day to invalidate docker caches"
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powershell "(Get-Content ${Env:DOCKERFILE}).replace('@@todays_date', $(Get-Date).ToLongDateString()) | Set-Content ${Env:DOCKERFILE}"

‎job_templates/packaging_job.xml.em‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -110,6 +110,7 @@ All packages listed here have to be available from either the primary or supplem
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@[if 'linux' in os_name]@
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ubuntu_distro: ${build.buildVariableResolver.resolve('CI_UBUNTU_DISTRO')}, <br/>
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@[end if]@
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ros_distro: ${build.buildVariableResolver.resolve('CI_ROS_DISTRO')}, <br/>
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branch: ${build.buildVariableResolver.resolve('CI_BRANCH_TO_TEST')}, <br/>
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ci_branch: ${build.buildVariableResolver.resolve('CI_SCRIPTS_BRANCH')}, <br/>
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repos_url: ${build.buildVariableResolver.resolve('CI_ROS2_REPOS_URL')}, <br/>
@@ -343,8 +344,12 @@ setlocal enableDelayedExpansion
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rmdir /S /Q ws workspace
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echo "# BEGIN SECTION: Build DockerFile"
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set CONTAINER_NAME=ros2_windows_ci_msvc%CI_VISUAL_STUDIO_VERSION%
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set DOCKERFILE=windows_docker_resources\Dockerfile.msvc%CI_VISUAL_STUDIO_VERSION%
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@# Eloquent uses the Dashing Dockerfile.
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if "!CI_ROS_DISTRO!" == "eloquent" (
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set "CI_ROS_DISTRO=dashing"
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)
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set CONTAINER_NAME=ros2_windows_ci_%CI_ROS_DISTRO%
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set DOCKERFILE=windows_docker_resources\Dockerfile.%CI_ROS_DISTRO%%
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rem "Change dockerfile once per day to invalidate docker caches"
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powershell "(Get-Content ${Env:DOCKERFILE}).replace('@@todays_date', $(Get-Date).ToLongDateString()) | Set-Content ${Env:DOCKERFILE}"

windows_docker_resources/Dockerfile.msvc2019 renamed to windows_docker_resources/Dockerfile.dashing

File renamed without changes.

‎windows_docker_resources/Dockerfile.foxy‎

Lines changed: 153 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,153 @@
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# escape=`
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# This Dockerfile needs to be built from the parent directory (ros2/ci) so the build context
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# includes the python scripts
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# To find this value run in powershell:
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# $(Get-ItemProperty 'HKLM:\SOFTWARE\Microsoft\Windows NT\CurrentVersion').ReleaseId
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ARG WINDOWS_RELEASE_ID=1909
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# In order to ensure the image is correctly compatible with the host system a
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# more precise version than the release id is required. To find this value run
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# the following in powershell.
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# $(Get-ItemProperty -Path 'HKLM:SOFTWARE\Microsoft\Windows NT\CurrentVersion\Update\TargetingInfo\Installed\Server.OS.amd64' -Name Version).Version"
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# Fall back to the Release ID
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ARG WINDOWS_RELEASE_VERSION=$WINDOWS_RELEASE_ID
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# Indicates that the windows image will be used as the base image. Must be same or older than host.
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# --isolation=hyperv is needed for both build/run if the image id is older than the host id
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# Use --isolation=process if you need to build in a mounted volume
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FROM mcr.microsoft.com/windows:$WINDOWS_RELEASE_VERSION
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# These are versioned files, so they shouldn't invalidate caches. Renaming to fixed names.
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# Regularly updated installers are next to their associated code.
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ADD https://github.com/ADLINK-IST/opensplice/releases/download/OSPL_V6_9_190925OSS_RELEASE/PXXX-VortexOpenSplice-6.9.190925OSS-HDE-x86_64.win-vs2019-installer.zip C:\TEMP\OpenSplice.zip
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# OpenSSL
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ADD https://slproweb.com/download/Win64OpenSSL-1_0_2u.exe C:\TEMP\Win64OpenSSL.exe
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# OpenCV
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ADD https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip C:\TEMP\opencv.zip
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# Python 3.7
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ADD https://www.python.org/ftp/python/3.7.6/python-3.7.6-amd64.exe C:\TEMP\python-37.exe
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# Custom choco packages
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/asio.1.12.1.nupkg C:\TEMP\asio.nupkg
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/bullet.2.89.0.nupkg C:\TEMP\bullet.nupkg
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/cunit.2.1.3.nupkg C:\TEMP\cunit.nupkg
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/eigen.3.3.4.nupkg C:\TEMP\eigen.nupkg
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/log4cxx.0.10.0.nupkg C:\TEMP\log4cxx.nupkg
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/tinyxml-usestl.2.6.2.nupkg C:\TEMP\tinyxml.nupkg
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ADD https://github.com/ros2/choco-packages/releases/download/2020-02-24/tinyxml2.6.0.0.nupkg C:\TEMP\tinyxml2.nupkg
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# xmllint files
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ADD https://www.zlatkovic.com/pub/libxml/64bit/libxml2-2.9.3-win32-x86_64.7z C:\TEMP\libxml2.7z
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ADD https://www.zlatkovic.com/pub/libxml/64bit/zlib-1.2.8-win32-x86_64.7z C:\TEMP\zlib.7z
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ADD https://www.zlatkovic.com/pub/libxml/64bit/iconv-1.14-win32-x86_64.7z C:\TEMP\iconv.7z
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# Restore the default Windows shell for correct batch processing.
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SHELL ["cmd", "/S", "/C"]
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RUN C:\TEMP\python-37.exe /quiet `
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TargetDir=C:\Python37 `
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PrependPath=1 `
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Include_debug=1 `
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Include_symbols=1
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# Install Chocolatey by powershell script
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RUN powershell -noexit "Set-ExecutionPolicy Bypass -Scope Process -Force; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))"
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# choco installs
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RUN choco install -y cmake curl git vcredist2013 vcredist140 cppcheck patch
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RUN choco install -y -s C:\TEMP asio cunit eigen tinyxml-usestl tinyxml2 log4cxx bullet
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RUN C:\TEMP\Win64OpenSSL.exe /VERYSILENT
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# For extracting .7z files
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ADD https://www.7-zip.org/a/7z1900-x64.exe C:\TEMP\
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RUN C:\TEMP\7z1900-x64.exe /S /D="C:\Program Files\7-zip"
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RUN setx PATH "%PATH%;C:\Program Files\7-zip"
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# Install xmllint
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# 7z.exe command line usage https://sevenzip.osdn.jp/chm/cmdline/commands/extract.htm
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RUN 7z.exe x C:\TEMP\libxml2.7z -aoa -oC:\xmllint
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RUN 7z.exe x C:\TEMP\zlib.7z -aoa -oC:\xmllint
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RUN 7z.exe x C:\TEMP\iconv.7z -aoa -oC:\xmllint
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RUN 7z.exe x C:\TEMP\opencv.zip -aoa -oC:\
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RUN 7z.exe x C:\TEMP\OpenSplice.zip -aoa -oC:\opensplice
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# Environment setup
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ENV OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
82+
ENV OpenCV_DIR C:\opencv
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ENV OSPL_HOME C:\opensplice\HDE\x86_64.win64
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# You can't use ENV to append to the PATH https://stackoverflow.com/questions/42092932/appending-to-path-in-a-windows-docker-container
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RUN setx PATH "%PATH%;C:\Program Files\Git\cmd;C:\Program Files\CMake\bin;C:\OpenSSL-Win64\bin\;C:\xmllint\bin;"C:\opencv\x64\vc16\bin"
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RUN powershell -Command Set-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1
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RUN mkdir C:\ws
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WORKDIR C:\ci
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# Invalidate once a day to cause online installers to check for updates
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RUN echo "@todays_date"
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# Qt5 online installer
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ADD http://download.qt.io/official_releases/online_installers/qt-unified-windows-x86-online.exe C:\TEMP\
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# Install Qt5 with automated install script, no msvc2019 version exists but 2017 is compatible
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# Updater/silentUpdate options did not work for me. Install scripts finds and installs the most recent LTS version
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COPY qt-installer.qs C:\TEMP\
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# Installing Qt5 requires an account. This file contains a username and secret account token
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RUN mkdir C:\Users\ContainerAdministrator\AppData\Roaming\Qt
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COPY qtaccount\qtaccount.ini C:\Users\ContainerAdministrator\AppData\Roaming\Qt\qtaccount.ini
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RUN C:\TEMP\qt-unified-windows-x86-online.exe --script C:\TEMP\qt-installer.qs MsvcVersion=2019 ErrorLogname="%ERROR_FILENAME%"
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RUN IF EXIST "%ERROR_FILENAME%" EXIT 1
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RUN choco upgrade -y chocolatey
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RUN choco upgrade -y all
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# The rest of the python packages are installed through run_ros2_batch.py
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RUN python -m pip install -U pip setuptools pydot PyQt5
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COPY rticonnextdds-license\rti_license.dat C:\connext\
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ENV RTI_LICENSE_FILE C:\connext\rti_license.dat
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COPY rticonnextdds-src\openssl-1.0.2n-target-x64Win64VS2017.zip C:\TEMP\connext\
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RUN 7z.exe x C:\TEMP\connext\openssl-1.0.2n-target-x64Win64VS2017.zip -aoa -oC:\connext\
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ENV RTI_OPENSSL_BIN C:\connext\openssl-1.0.2n\x64Win64VS2017\release\bin
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ENV RTI_OPENSSL_LIB C:\connext\openssl-1.0.2n\x64Win64VS2017\release\lib
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COPY rticonnextdds-src\rti_connext_dds-5.3.1-pro-host-x64Win64.exe.??? C:\TEMP\connext\
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RUN copy /b C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe.??? C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe
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RUN C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe `
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--mode unattended `
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--unattendedmodeui minimalWithDialogs `
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--prefix "%ProgramFiles%"
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COPY rticonnextdds-src\openssl-1.0.2n-5.3.1-host-x64Win64.rtipkg C:\TEMP\connext\
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RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\openssl-1.0.2n-5.3.1-host-x64Win64.rtipkg"
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COPY rticonnextdds-src\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\connext\
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RUN copy /b C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg
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RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg"
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COPY rticonnextdds-src\rti_security_plugins-5.3.1-host-x64Win64.rtipkg C:\TEMP\connext\
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RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_security_plugins-5.3.1-host-x64Win64.rtipkg"
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COPY rticonnextdds-src\rti_security_plugins-5.3.1-target-x64Win64VS2017.rtipkg C:\TEMP\connext\
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RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_security_plugins-5.3.1-target-x64Win64VS2017.rtipkg"
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# Visual Studio Build Tools and .Net SDK`
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ADD https://aka.ms/vs/16/release/vs_BuildTools.exe C:\TEMP\
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# 3010 is an acceptable exit code (install was successful but restart required), but it will confuse docker.
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# This installer invalidates docker image caches pretty regularly, so it's late in the order. See documentation for installer at:
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# https://docs.microsoft.com/en-us/visualstudio/install/use-command-line-parameters-to-install-visual-studio?view=vs-2019
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RUN C:\TEMP\vs_BuildTools.exe --quiet --wait --norestart --includeRecommended `
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--add Microsoft.Net.Component.4.8.SDK `
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--add Microsoft.VisualStudio.Workload.VCTools `
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--add Microsoft.Component.MSBuild `
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--add Microsoft.VisualStudio.Component.VC.CLI.Support `
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|| IF "%ERRORLEVEL%"=="3010" EXIT 0
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CMD ["C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\BuildTools\\VC\\Auxiliary\\Build\\vcvarsall.bat", "x86_amd64", "&&", `
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"python", "run_ros2_batch.py", "%CI_ARGS%"]

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