.. _brash_docker_build:

Building the BRASH Docker images
################################

If you want to do a docker-based development, we have the `brash_docker <https://github.com/traclabs/brash_docker>`_ repository
available, which hosts a set of files that allow you to build docker images to test the BRASH software.

The instructions below show how to build the Docker image files for BRASH.
For more details, consult the `README <https://github.com/traclabs/brash_docker/blob/master/README.md>`_
from the **brash_docker** repository.


Checkout brash_docker
=======================

1. Recursively clone this repository:

   .. code-block:: bash
     
      git clone --recursive git@github.com:traclabs/brash_docker

   If you've already cloned the repository without the recursive flag, you may 
   run :code:`git submodule update --init --recursive`` to complete the base checkout.

2. ROS packages are currently configured using the :code:`vcstool`. This tool clones the required repositories 
   (which will be downloaded to brash/src) using either https or ssh based Github links.

   .. code-block:: bash
   
      cd ${HOME}/brash_docker
      cd brash
      mkdir src
      vcs import src < https.repos     # User choice of https.repos or ssh.repos

Build images (dev mode)
=======================


1. Go to your top folder and build the base images (:code:`cfs-dev`, :code:`rosgsw-dev` and :code:`rosfsw-dev`):

   .. code-block:: bash

      $ cd ${HOME}/brash_docker
      $ ./scripts/build_images.sh

3. Build the workspace for :code:`fsw`:

   .. code-block:: bash
      
      $ cd ${HOME}/brash_docker 
      $ ./scripts/build_cfe.sh

4. Build the workspace for :code:`rosgsw` :

   .. code-block:: bash

      $ cd ${HOME}/brash_docker  
      $ ./scripts/build_brash.sh
     
   No need to build for :code:`rosfsw` as we are mounting to the same location.

Check images
=============

To check your images, you can type in your terminal

.. code-block:: bash

   $ docker image ls

You should see something like:

.. code-block:: bash

   REPOSITORY   TAG       IMAGE ID       CREATED              SIZE
   rosfsw-dev   latest    74a04f33ec08   About a minute ago   4.85GB
   rosgsw-dev   latest    e0200ecb6f0d   3 minutes ago        4.24GB
   ros-base     latest    2e1b2babbf53   3 minutes ago        4.22GB
   cfs-dev      latest    238d2b179933   6 minutes ago        507MB