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The eProsima DDS stack, in the CI image - #15
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Section 3a, next to the two the file already says are the reason it exists.
The DDS stack is the third, and by far the most expensive: mongoc and
libmicrohttpd are a couple of minutes, this is eight - and it was being paid by
every build of the coraine-dds image, every night.
⭐ WHY HERE AND NOT IN A DDS BASE IMAGE OF ITS OWN: the reason this file gives
for ubuntu in the first place. A third environment in the middle is where
environment-sensitive bugs hide, and the one that was hiding there is concrete
- the stack was built on 24.04 and shipped into a 26.04 broker image, so
tinyxml2 carried a different soname in its package NAME on each side and the
runtime stage could not name a package that existed. One base, one toolchain.
Verified on 26.04, which it had never been built on: 13 packages, no changes
needed.
THE VERSIONS ARE NOT NAMED HERE. corDdsBridge/ddsenabler-pinned.repos is the
single source of truth for which eProsima releases the bridge is built against
- the relationship klib-pins has with the k-libs - so it is fetched rather than
restated.
/opt/dds/{lib,include} is the same stack again, staged: 25 MB of libraries and
5.6 MB of headers in an image of 1.65 GB. /usr/local is where it has to be
INSTALLED, because that is where everything compiling against eProsima looks;
but the SHIPPED broker image needs those libraries without the toolchain that
built them, and picking them back out of /usr/local means a Dockerfile that has
no business knowing there are nine of them naming all nine. So the stack says
what it consists of once, here.
⚠ cp -a, not cp. libfastdds.so, .so.3.6 and .so.3.6.2.0 are one 16 MiB library
and two links to it, and a copy that follows the links writes it three times -
which is how 21 MiB of libraries became 63 MiB of image and read as the price
of DDS.
foonathan_memory is in neither directory: it comes out STATIC here, so it is
already inside the libraries that use it, and no public Fast DDS header
includes it.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
…pt it
The post-publish check exists because a CACHED build may not re-run the
Dockerfile's own assert layer. That is exactly the case in which a missing
/opt/dds would reach a consumer - and the consumer is now the broker image,
which would build its broker fine and then fail on a missing
/opt/dds/include. So the check covers the DDS stack too, and prints what
it found.
And the summary told the reader to set the tag "in .github/workflows/
{ci,nightly}.yml", which is no longer all of it: docker/Dockerfile's CI_IMAGE
arg is where the DDS stack is copied from, and a tag from before this PR builds
the broker and then fails. Three places, named.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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The DDS stack moves into the CI image, so that
corainecan carry the DDSbridge without any image build ever compiling Fast DDS again.
Why here. Section 3 of
Dockerfile.cisays the image exists because twodependencies are packaged by no distribution and have to be compiled, and that
baking them once turns every job's setup into a pull. The eProsima stack is the
third and by far the most expensive: mongoc and libmicrohttpd are a couple of
minutes, this is eight — and until now it was paid by every build of the
coraine-ddsimage, every night.A DDS base image of its own was the alternative. This file's own argument
against it: "a third environment in the middle is where environment-sensitive
bugs hide". One was hiding there already — the stack was built on 24.04 and
shipped into a 26.04 broker image, and tinyxml2 carries its soname in the
package name, so the runtime stage could not name a package that existed.
Verified on 26.04, which it had never been built on: 13 packages, no
changes needed. And end to end — a broker image built against this one does a
real DDS round trip with ROS 2 nodes, a talker's samples in and a PATCHed
attribute out.
What it costs: the CI image goes 1.44 GB → 1.65 GB. The broker image that
copies
/opt/dds/libout of it grows by 26 MB.The versions are not named here.
corDdsBridge/ddsenabler-pinned.reposisthe single source of truth — the relationship
klib-pinshas with the k-libs —so the repos file is fetched rather than restated.
/opt/dds/{lib,include}is that stack staged for other images to copy, so aDockerfile that has no business knowing there are nine libraries does not have
to name all nine.
⚠
cp -a, notcp:libfastdds.so,.so.3.6and.so.3.6.2.0are one16 MiB library and two links to it, and a copy that follows the links writes it
three times — which is how 21 MiB of libraries became 63 MiB of image and read
as the price of DDS.
Merges before the coraine side, which needs the tag this publishes.
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