Merge pull request #4 from RonaldsonBellande/noetic

docker
2022-08-03 04:39:39 -04:00
parent 85252181dc a4af03ef5e
commit 75743a2e37
7 changed files with 260 additions and 0 deletions
--- a/73
+++ b/73
@@ -0,0 +1,73 @@
+ARG ROS_ARCHITECTURE_VERSION=latest
+
+FROM ubuntu:20.04 as base_build
+SHELL [ "/bin/bash" , "-c" ]
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+
+ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
+ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
+LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+COPY system_requirements.txt .
+COPY ros_requirements.txt .
+COPY ros_repository_requirements.txt .
+
+# Install dependencies for system
+RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
+  && apt-get upgrade -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install python 3.8 and make primary 
+RUN apt-get update && apt-get install -y \
+  python3.8 python3.8-dev python3-pip python3.8-venv \
+  && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# Pip install update 
+RUN pip3 install --upgrade pip
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt
+
+# Install dependencies for ros system 
+RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get -y upgrade \
+  && <ros_repository_requirements.txt 
+
+# Create local catkin workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS/src
+
+# Initialize local catkin workspace, install dependencies and build workpsace
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN source ~/.bashrc
+
+RUN cd $CATKIN_WS \
+  && rosdep init \
+  && rosdep update \
+  && rosdep update --rosdistro noetic \
+  && rosdep fix-permissions \
+  && rosdep install -y --from-paths . --ignore-src --rosdistro noetic
+
+# Always source catkin_setup.sh when launching bash 
+RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
+COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
+RUN chmod +x /usr/local/bin/catkin_setup.sh
+
+ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
+CMD ["bash"]
--- a/catkin_setup.sh
+++ b/catkin_setup.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+catkin build 
+source "/opt/ros/noetic/setup.bash"
+source "$CATKIN_WS/devel/setup.bash"
--- a/gpu.Dockerfile
+++ b/gpu.Dockerfile
@@ -0,0 +1,90 @@
+ARG ROS_ARCHITECTURE_VERSION=latest
+
+FROM ubuntu:20.04 as base_build
+FROM nvidia/cuda:11.2.1-base-ubuntu20.04
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+ENV CUDNN_VERSION=8.1.0.77
+ENV TF_TENSORRT_VERSION=7.2.2
+ENV CUDA=11.2
+ENV LD_LIBRARY_PATH /usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH
+
+ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
+ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
+LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+COPY system_requirements.txt .
+COPY ros_requirements.txt .
+COPY ros_repository_requirements.txt .
+
+# Install dependencies for system
+RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
+  && apt-get upgrade -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install python 3.8 and make primary 
+RUN apt-get update && apt-get install -y \
+  python3.8 python3.8-dev python3-pip python3.8-venv \
+  && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# Pip install update 
+RUN pip3 install --upgrade pip
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt
+
+# Install dependencies for ros system 
+RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
+  && rm -rf /var/lib/apt/lists/*
+
+# Create local catkin workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS/src
+
+# Initialize local catkin workspace, install dependencies and build workpsace
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN source ~/.bashrc
+
+RUN cd $CATKIN_WS \
+  && rosdep init \
+  && rosdep update \
+  && rosdep update --rosdistro noetic \
+  && rosdep fix-permissions \
+  && rosdep install -y --from-paths . --ignore-src --rosdistro noetic
+
+# Always source catkin_setup.sh when launching bash 
+RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
+COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
+RUN chmod +x /usr/local/bin/catkin_setup.sh
+
+ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
+CMD ["bash"]
+
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub && \
+  apt-get update && apt-get install -y --no-install-recommends \
+  cuda-nvrtc-${CUDA/./-} \
+  libcudnn8=${CUDNN_VERSION}-1+cuda${CUDA} \
+  -r cuda_requirements.txt
+
+# We don't install libnvinfer-dev since we don't need to build against TensorRT
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64/7fa2af80.pub && \
+  echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64 /"  > /etc/apt/sources.list.d/tensorRT.list && \
+  apt-get update && \
+  apt-get install -y --no-install-recommends libnvinfer7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
+  libnvinfer-plugin7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
+  && apt-get clean && \
+  rm -rf /var/lib/apt/lists/*;
+
--- a/requirements.txt
+++ b/requirements.txt
@@ -0,0 +1,39 @@
+# Recomandation for library to install in python
+
+setuptools
+pandas 
+scipy
+sklearn
+future
+grpcio
+h5py
+requests
+opencv-python
+python-math
+random2
+pytest-warnings
+os.path2
+pydicom
+glob2
+pytest-shutil
+DateTime
+zipfile36
+urllib3
+python-time
+trimesh
+librosa
+gym
+matplotlib
+image-slicer
+nvidia-ml-py3
+imgaug
+tqdm
+rosdep
+
+protobuf==3.15.2
+numpy==1.19.2 
+numba==0.55.2
+imageio==2.9.0
+pillow==7.2.0
+tensorflow==2.7.0
+keras==2.7.0
--- a/ros_repository_requirements.txt
+++ b/ros_repository_requirements.txt
@@ -0,0 +1,9 @@
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-msgs
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Tools
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Common
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Utility
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-OP3-Demo
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Math
--- a/ros_requirements.txt
+++ b/ros_requirements.txt
@@ -0,0 +1,15 @@
+# Recomandation for dependencies for ros system
+
+ros-noetic-desktop-full
+build-essential
+ros-noetic-catkin
+python-rosdep
+python-rosinstall
+python-rosinstall-generator
+python-wstool
+python-catkin-tools
+ros-noetic-pcl-ros
+ros-noetic-flexbe-behavior-engine
+ros-noetic-moveit
+ros-noetic-gazebo-ros-pkgs 
+ros-noetic-gazebo-ros-control
--- a/system_requirements.txt
+++ b/system_requirements.txt
@@ -0,0 +1,29 @@
+# Recomandation for dependencies for linux system
+
+software-properties-common
+python3.8
+neovim
+apt-utils
+automake
+build-essential
+ca-certificates
+pycurl
+git
+python3-pip
+libcurl3-dev
+libfreetype6-dev
+libpng-dev
+libtool
+libzmq3-dev
+mlocate
+openjdk-8-jdk
+openjdk-8-jre-headless
+pkg-config
+python-dev
+software-properties-common
+swig
+unzip
+wget
+zip
+zlib1g-dev
+python3-distutils