Driver Deployment

The ADI Robotics SDK images contain all drivers. For production, you typically need only one. This guide shows how to extract a single driver into a minimal image, using adi_iio as the example. The same pattern should work for any package.

The demo files live in docker/demo/adi_iio/.

Prerequisites

Build the core image first — it provides the compiled packages and their dependency manifests:

# From the repository root
docker compose -f compose.build.yml build core

How It Works

The SDK builds each package into its own directory under /opt/ros/adi_ros2/<package>/. Each package carries an exec_debs.txt file listing its runtime apt dependencies. The minimal Dockerfile copies one package out of core and installs only its dependencies:

FROM adi_ros2:${ROS_DISTRO}-core AS sdk

FROM ros:${ROS_DISTRO}-ros-core

# Copy one package from the SDK image
COPY --from=sdk ${OVERLAY}/adi_iio ${OVERLAY}/adi_iio

# Install only this package's runtime dependencies
RUN apt-get update \
  && xargs -r apt-get install -y < ${OVERLAY}/adi_iio/share/adi_iio/exec_debs.txt \
  && rm -rf /var/lib/apt/lists/*

Build and Run

# From docker/demo/adi_iio/
docker compose build
docker compose up adi_iio

# Ctrl+C to stop the node

# Stop and remove the container
docker compose down

The compose file defines two services:

Service	Profile	Purpose
adi_iio_node	default	Builds the minimal image and runs the driver node
shell	debug	Interactive bash shell for inspection

Debug Shell

docker compose run --rm shell

Inside the container:

ros2 run adi_iio adi_iio_node