| # Build art_lockstep INSIDE the released image against the image's Chrono build | |
| # (fork commit 9d26ff7, Release, same compiler and flags as demo_ROS_dART: | |
| # "-fopenmp -march=native -O3 -DNDEBUG", see ninja/compile_commands entry). | |
| # Usage (host): bash build.sh | |
| set -euo pipefail | |
| HERE="$(cd "$(dirname "$0")" && pwd)" | |
| IMAGE="uwsbel/ros@sha256:60118a64d8e751c1adafef1abebebbc504a5814d63eae5bb46120de5f7b4554c" | |
| UIDGID="$(id -u):$(id -g)" | |
| docker run --rm --network none --name "tr-c1-runner-build-$$" \ | |
| -v "$HERE:$HERE" --entrypoint /bin/bash "$IMAGE" -c " | |
| set -euo pipefail | |
| CH=/sbel/Desktop/chrono | |
| cd '$HERE' | |
| mkdir -p build | |
| FLAGS='-DBP_USE_FIXEDPOINT_INT_32 -fopenmp -march=native -O3 -DNDEBUG -Wno-sign-compare -Wno-reorder -Wno-unused-function -Wno-unused-parameter' | |
| INC=\"-I\$CH/src -I\$CH/build -I/root/Packages/eigen-3.4.0 -I\$CH/src/chrono -I\$CH/src/chrono/collision/bullet -I\$CH/src/chrono/collision/gimpact -I\$CH/src/chrono_thirdparty/HACD -I\$CH/src/chrono_thirdparty/HACDv2\" | |
| CMD=\"/usr/bin/c++ \$FLAGS \$INC -o build/art_lockstep src/art_lockstep.cpp -L\$CH/build/lib -Wl,-rpath,\$CH/build/lib -lChronoModels_vehicle -lChronoEngine_vehicle -lChronoEngine -fopenmp -lpthread\" | |
| echo \"\$CMD\" > build/build_command.txt | |
| /usr/bin/c++ --version | head -1 > build/compiler_version.txt | |
| eval \"\$CMD\" | |
| sha256sum src/art_lockstep.cpp build/art_lockstep > build/build_sha256.txt | |
| ldd build/art_lockstep > build/ldd.txt | |
| sha256sum \$CH/build/lib/libChronoEngine.so \$CH/build/lib/libChronoEngine_vehicle.so \$CH/build/lib/libChronoModels_vehicle.so >> build/build_sha256.txt | |
| chown -R $UIDGID build | |
| cat build/build_sha256.txt | |
| " | |