docker

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/*;
+