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Add optional Spectacular AI SDK to RAE build #28

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Add optional Spectacular AI SDK to RAE build #28

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d80bf15
Add optional Spectacular AI SDK to RAE build
Bercon Sep 19, 2023
06fc13e
Default SAI SDK to no. Change name of secret token
Bercon Oct 4, 2023
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12 changes: 12 additions & 0 deletions .github/workflows/main.workflow.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,9 @@ jobs:
ROS_DISTRO=${{ env.ROS_DISTRO }}
USE_RVIZ=1
SIM=1
INCLUDE_SPECTACULARAI_ROS=YES
secrets: |
"SPECTACULAR_AI_TOKEN=${{ secrets.SPECTACULAR_AI_TOKEN }}"
platforms: |
amd64
no-cache: true
Expand All @@ -57,6 +60,9 @@ jobs:
build-args: |
ROS_DISTRO=${{ env.ROS_DISTRO }}
USE_RVIZ=1
INCLUDE_SPECTACULARAI_ROS=YES
secrets: |
"SPECTACULAR_AI_TOKEN=${{ secrets.SPECTACULAR_AI_TOKEN }}"
platforms: |
amd64
push: ${{ env.PUSH }}
Expand All @@ -72,6 +78,9 @@ jobs:
ROS_DISTRO=${{ env.ROS_DISTRO }}
USE_RVIZ=0
SIM=0
INCLUDE_SPECTACULARAI_ROS=YES
secrets: |
"SPECTACULAR_AI_TOKEN=${{ secrets.SPECTACULAR_AI_TOKEN }}"
platforms: |
arm64
no-cache: true
Expand All @@ -84,6 +93,9 @@ jobs:
ROS_DISTRO=${{ env.ROS_DISTRO }}
USE_RVIZ=0
SIM=0
INCLUDE_SPECTACULARAI_ROS=YES
secrets: |
"SPECTACULAR_AI_TOKEN=${{ secrets.SPECTACULAR_AI_TOKEN }}"
platforms: |
arm64
push: ${{ env.PUSH }}
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13 changes: 13 additions & 0 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@ FROM luxonis/depthai-ros-rae AS builder
ARG SIM=0
ARG CORE_NUM=1
ARG BUILD_TYPE="RelWithDebInfo"
ARG INCLUDE_SPECTACULARAI_ROS=NO
ARG SPECTACULARAI_ROS_VERSION=v0.0.1

ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update \
Expand All @@ -22,6 +24,17 @@ RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh
RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc
RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc
RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc

RUN --mount=type=secret,id=SPECTACULAR_AI_TOKEN if [ "$INCLUDE_SPECTACULARAI_ROS" = "YES" ]; then \
rm -rf sai_ros \
&& git clone --single-branch --branch ${SPECTACULARAI_ROS_VERSION} https://github.com/SpectacularAI/ros.git sai_ros \
&& cd sai_ros \
&& apt-get -y install unzip --no-install-recommends \
&& ROS_DISTRO=$ROS_DISTRO DEPTHAI_WS=$UNDERLAY_WS GITHUB_RAE_PAT_TOKEN=$(cat /run/secrets/SPECTACULAR_AI_TOKEN) . ./scripts/download_and_build_static.sh \
&& apt-get -y remove unzip \
&& echo "if [ -f $(pwd)/spectacularai_ros2/install/setup.bash ]; then source $(pwd)/spectacularai_ros2/install/setup.bash; fi" >> $HOME/.bashrc; \
fi

ENTRYPOINT [ "/ws/src/rae-ros/entrypoint.sh" ]
RUN rm -rf /usr/share/doc

Expand Down