User can name runtime image

Signed-off-by: Emerson Knapp <[email protected]>

ros_cross_compile/docker/runtime.Dockerfile

@@ -7,6 +7,8 @@ ARG BASE_IMAGE
 FROM $BASE_IMAGE
 WORKDIR /ros_ws
 
+RUN apt-get update && apt-get install -q -y --no-install-recommends less vim
+
 ARG INSTALL_PATH
 COPY $INSTALL_PATH/ /ros_ws/install
 

ros_cross_compile/pipeline_stages.py

@@ -27,11 +27,15 @@
 As such, the documentation for each customization can be found by looking at the
 argparse options in ros_cross_compile.py.
 """
-PipelineStageConfigOptions = NamedTuple('PipelineStageConfigOptions',
-                                        [('skip_rosdep_keys', List[str]),
-                                         ('custom_script', Optional[Path]),
-                                         ('custom_data_dir', Optional[Path]),
-                                         ('custom_setup_script', Optional[Path])])
+PipelineStageConfigOptions = NamedTuple(
+    'PipelineStageConfigOptions',
+    [
+        ('skip_rosdep_keys', List[str]),
+        ('custom_script', Optional[Path]),
+        ('custom_data_dir', Optional[Path]),
+        ('custom_setup_script', Optional[Path]),
+        ('runtime_tag', str),
+    ])
 
 
 class PipelineStage(ABC):

ros_cross_compile/ros_cross_compile.py

@@ -162,7 +162,10 @@ def parse_args(args: List[str]) -> argparse.Namespace:
         default=[],
         help='Skip these steps')
     parser.add_argument(
-        '--create-runtime-image',
+        '--runtime-tag',
+        type=str,
+        required=False,
+        default='cc-runtime',
         help='Create a Docker image with the specified name that contains all '
              'runtime dependencies and the created "install" directory for the workspace.')
 
@@ -194,7 +197,8 @@ def cross_compile_pipeline(
         skip_rosdep_keys,
         custom_rosdep_script,
         custom_data_dir,
-        custom_setup_script)
+        custom_setup_script,
+        args.runtime_tag)
 
     for stage in stages:
         if stage.name not in args.skip_steps:

ros_cross_compile/runtime.py

@@ -55,7 +55,9 @@ class PackageRuntimeImage(PipelineStage):
     def __init__(self):
         super().__init__('package_runtime')
 
-    def __call__(self, platform: Platform, docker_client: DockerClient, ros_workspace_dir: Path,
-                 pipeline_stage_config_options: PipelineStageConfigOptions,
-                 data_collector: DataCollector):
-        create_runtime_image(docker_client, platform, ros_workspace_dir, 'cc-runtime')
+    def __call__(
+        self, platform: Platform, docker_client: DockerClient, ros_workspace_dir: Path,
+        options: PipelineStageConfigOptions,
+        data_collector: DataCollector
+    ):
+        create_runtime_image(docker_client, platform, ros_workspace_dir, options.runtime_tag)