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73
docker/Dockerfile
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73
docker/Dockerfile
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ARG ROS_ARCHITECTURE_VERSION=latest
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FROM ubuntu:20.04 as base_build
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SHELL [ "/bin/bash" , "-c" ]
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ENV DEBIAN_FRONTEND noninteractive
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ENV PYTHON_VERSION="3.8"
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ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
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ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
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LABEL maintainer=ronaldsonbellande@gmail.com
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LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
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LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
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# Ubuntu setup
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RUN apt-get update -y
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RUN apt-get upgrade -y
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# RUN workspace and sourcing
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WORKDIR ./
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COPY requirements.txt .
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COPY system_requirements.txt .
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COPY ros_requirements.txt .
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COPY ros_repository_requirements.txt .
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# Install dependencies for system
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RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
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&& apt-get upgrade -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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# Install python 3.8 and make primary
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RUN apt-get update && apt-get install -y \
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python3.8 python3.8-dev python3-pip python3.8-venv \
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&& update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
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# Pip install update
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RUN pip3 install --upgrade pip
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# Install python libraries
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RUN pip --no-cache-dir install -r requirements.txt
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# Install dependencies for ros system
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RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
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&& rm -rf /var/lib/apt/lists/*
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RUN apt-get update && apt-get -y upgrade \
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&& <ros_repository_requirements.txt
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# Create local catkin workspace
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ENV CATKIN_WS=/root/catkin_ws
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RUN mkdir -p $CATKIN_WS/src
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WORKDIR $CATKIN_WS/src
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# Initialize local catkin workspace, install dependencies and build workpsace
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RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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RUN source ~/.bashrc
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RUN cd $CATKIN_WS \
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&& rosdep init \
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&& rosdep update \
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&& rosdep update --rosdistro noetic \
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&& rosdep fix-permissions \
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&& rosdep install -y --from-paths . --ignore-src --rosdistro noetic
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# Always source catkin_setup.sh when launching bash
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RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
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COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
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RUN chmod +x /usr/local/bin/catkin_setup.sh
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ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
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CMD ["bash"]
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90
docker/gpu.Dockerfile
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90
docker/gpu.Dockerfile
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ARG ROS_ARCHITECTURE_VERSION=latest
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FROM ubuntu:20.04 as base_build
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FROM nvidia/cuda:11.2.1-base-ubuntu20.04
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ENV DEBIAN_FRONTEND noninteractive
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ENV PYTHON_VERSION="3.8"
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ENV CUDNN_VERSION=8.1.0.77
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ENV TF_TENSORRT_VERSION=7.2.2
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ENV CUDA=11.2
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ENV LD_LIBRARY_PATH /usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH
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ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
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ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
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LABEL maintainer=ronaldsonbellande@gmail.com
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LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
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LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
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# Ubuntu setup
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RUN apt-get update -y
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RUN apt-get upgrade -y
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# RUN workspace and sourcing
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WORKDIR ./
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COPY requirements.txt .
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COPY system_requirements.txt .
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COPY ros_requirements.txt .
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COPY ros_repository_requirements.txt .
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# Install dependencies for system
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RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
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&& apt-get upgrade -y \
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&& apt-get clean \
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&& rm -rf /var/lib/apt/lists/*
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# Install python 3.8 and make primary
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RUN apt-get update && apt-get install -y \
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python3.8 python3.8-dev python3-pip python3.8-venv \
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&& update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
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# Pip install update
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RUN pip3 install --upgrade pip
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# Install python libraries
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RUN pip --no-cache-dir install -r requirements.txt
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# Install dependencies for ros system
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RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
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&& rm -rf /var/lib/apt/lists/*
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# Create local catkin workspace
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ENV CATKIN_WS=/root/catkin_ws
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RUN mkdir -p $CATKIN_WS/src
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WORKDIR $CATKIN_WS/src
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# Initialize local catkin workspace, install dependencies and build workpsace
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RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
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RUN source ~/.bashrc
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RUN cd $CATKIN_WS \
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&& rosdep init \
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&& rosdep update \
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&& rosdep update --rosdistro noetic \
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&& rosdep fix-permissions \
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&& rosdep install -y --from-paths . --ignore-src --rosdistro noetic
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# Always source catkin_setup.sh when launching bash
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RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
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COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
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RUN chmod +x /usr/local/bin/catkin_setup.sh
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ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
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CMD ["bash"]
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RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub && \
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apt-get update && apt-get install -y --no-install-recommends \
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cuda-nvrtc-${CUDA/./-} \
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libcudnn8=${CUDNN_VERSION}-1+cuda${CUDA} \
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-r cuda_requirements.txt
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# We don't install libnvinfer-dev since we don't need to build against TensorRT
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RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64/7fa2af80.pub && \
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echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64 /" > /etc/apt/sources.list.d/tensorRT.list && \
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apt-get update && \
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apt-get install -y --no-install-recommends libnvinfer7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
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libnvinfer-plugin7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
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&& apt-get clean && \
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rm -rf /var/lib/apt/lists/*;
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