Merge pull request #5 from RonaldsonBellande/noetic

docker
2022-08-02 23:33:12 -04:00 · 2022-08-02 23:33:12 -04:00 · 3e2d23244e
commit 3e2d23244e
parent 5aea21d264 3d8b71c4d4
4 changed files with 286 additions and 93 deletions
--- a/.github/workflows/docker-publish.yml
+++ b/.github/workflows/docker-publish.yml
@ -1,93 +0,0 @@
-name: Docker
-
-# This workflow uses actions that are not certified by GitHub.
-# They are provided by a third-party and are governed by
-# separate terms of service, privacy policy, and support
-# documentation.
-
-on:
-  schedule:
-    - cron: '28 19 * * *'
-  push:
-    branches: [ noetic ]
-    # Publish semver tags as releases.
-    tags: [ 'v*.*.*' ]
-  pull_request:
-    branches: [ noetic ]
-
-env:
-  # Use docker.io for Docker Hub if empty
-  REGISTRY: ghcr.io
-  # github.repository as <account>/<repo>
-  IMAGE_NAME: ${{ github.repository }}
-
-
-jobs:
-  build:
-
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      packages: write
-      # This is used to complete the identity challenge
-      # with sigstore/fulcio when running outside of PRs.
-      id-token: write
-
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v3
-
-      # Install the cosign tool except on PR
-      # https://github.com/sigstore/cosign-installer
-      - name: Install cosign
-        if: github.event_name != 'pull_request'
-        uses: sigstore/cosign-installer@d6a3abf1bdea83574e28d40543793018b6035605
-        with:
-          cosign-release: 'v1.7.1'
-
-
-      # Workaround: https://github.com/docker/build-push-action/issues/461
-      - name: Setup Docker buildx
-        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
-
-      # Login against a Docker registry except on PR
-      # https://github.com/docker/login-action
-      - name: Log into registry ${{ env.REGISTRY }}
-        if: github.event_name != 'pull_request'
-        uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      # Extract metadata (tags, labels) for Docker
-      # https://github.com/docker/metadata-action
-      - name: Extract Docker metadata
-        id: meta
-        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-
-      # Build and push Docker image with Buildx (don't push on PR)
-      # https://github.com/docker/build-push-action
-      - name: Build and push Docker image
-        id: build-and-push
-        uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a
-        with:
-          context: .
-          push: ${{ github.event_name != 'pull_request' }}
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-
-      # Sign the resulting Docker image digest except on PRs.
-      # This will only write to the public Rekor transparency log when the Docker
-      # repository is public to avoid leaking data.  If you would like to publish
-      # transparency data even for private images, pass --force to cosign below.
-      # https://github.com/sigstore/cosign
-      - name: Sign the published Docker image
-        if: ${{ github.event_name != 'pull_request' }}
-        env:
-          COSIGN_EXPERIMENTAL: "true"
-        # This step uses the identity token to provision an ephemeral certificate
-        # against the sigstore community Fulcio instance.
-        run: cosign sign ${{ steps.meta.outputs.tags }}@${{ steps.build-and-push.outputs.digest }}
--- a/114
+++ b/114
@ -0,0 +1,114 @@
+FROM ubuntu:20.04 as base_build
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
+
+ARG ROS_ENVIROMENT_VERSION_GIT_BRANCH=master
+ARG ROS_ENVIROMENT_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ros_enviroment_github_branchtag=${ROS_ENVIROMENT_VERSION_GIT_BRANCH}
+LABEL ros_enviroment_github_commit=${ROS_ENVIROMENT_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+
+ARG ROS_PKG=ros_base
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# add the ROS deb repo to the apt sources list
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    git \
+		cmake \
+		build-essential \
+		curl \
+		wget \
+		gnupg2 \
+		lsb-release \
+		ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+
+# install bootstrap dependencies
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          libpython3-dev \
+          python3-rosdep \
+          python3-rosinstall-generator \
+          python3-vcstool \
+          build-essential && \
+    rosdep init && \
+    rosdep update && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# download/build the ROS source
+RUN mkdir ros_catkin_ws && \
+    cd ros_catkin_ws && \
+    rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
+    mkdir src && \
+    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
+    apt-get update && \
+    rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
+    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /var/lib/apt/lists/*
+
+
+ # Install dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        apt-utils \
+        automake \
+        build-essential \
+        ca-certificates \
+        curl \
+        git \
+        python3-pip \
+        libcurl3-dev \
+        libfreetype6-dev \
+        libpng-dev \
+        libtool \
+        libzmq3-dev \
+        mlocate \
+        openjdk-8-jdk\
+        openjdk-8-jre-headless \
+        pkg-config \
+        python-dev \
+        software-properties-common \
+        swig \
+        unzip \
+        wget \
+        zip \
+        zlib1g-dev \
+        python3-distutils \
+        && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# Install python 3.8 and make primary 
+RUN add-apt-repository ppa:deadsnakes/ppa && \
+    apt-get update && apt-get install -y \
+    python3.8 python3.8-dev python3-pip python3.8-venv && \
+    update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# pip install 
+RUN pip3 install --upgrade pip
+
+RUN curl -fSsL -O https://bootstrap.pypa.io/get-pip.py && \
+    python3 get-pip.py && \
+    rm get-pip.py
+
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt
--- a/gpu.Dockerfile
+++ b/gpu.Dockerfile
@ -0,0 +1,144 @@
+FROM ubuntu:20.04 as base_build
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
+
+ARG ROS_ENVIROMENT_VERSION_GIT_BRANCH=master
+ARG ROS_ENVIROMENT_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ros_enviroment_github_branchtag=${ROS_ENVIROMENT_VERSION_GIT_BRANCH}
+LABEL ros_enviroment_github_commit=${ROS_ENVIROMENT_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+
+ARG ROS_PKG=ros_base
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# add the ROS deb repo to the apt sources list
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    git \
+		cmake \
+		build-essential \
+		curl \
+		wget \
+		gnupg2 \
+		lsb-release \
+		ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+
+# install bootstrap dependencies
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+          libpython3-dev \
+          python3-rosdep \
+          python3-rosinstall-generator \
+          python3-vcstool \
+          build-essential && \
+    rosdep init && \
+    rosdep update && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# download/build the ROS source
+RUN mkdir ros_catkin_ws && \
+    cd ros_catkin_ws && \
+    rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
+    mkdir src && \
+    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
+    apt-get update && \
+    rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
+    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
+    rm -rf /var/lib/apt/lists/*
+
+ # Install dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        apt-utils \
+        automake \
+        build-essential \
+        ca-certificates \
+        curl \
+        git \
+        python3-pip \
+        libcurl3-dev \
+        libfreetype6-dev \
+        libpng-dev \
+        libtool \
+        libzmq3-dev \
+        mlocate \
+        openjdk-8-jdk\
+        openjdk-8-jre-headless \
+        pkg-config \
+        python-dev \
+        software-properties-common \
+        swig \
+        unzip \
+        wget \
+        zip \
+        zlib1g-dev \
+        python3-distutils \
+        && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# Install python 3.8 and make primary 
+RUN add-apt-repository ppa:deadsnakes/ppa && \
+    apt-get update && apt-get install -y \
+    python3.8 python3.8-dev python3-pip python3.8-venv && \
+    update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# pip install 
+RUN pip3 install --upgrade pip
+
+RUN curl -fSsL -O https://bootstrap.pypa.io/get-pip.py && \
+    python3 get-pip.py && \
+    rm get-pip.py
+
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt
+
+
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub && \
+    apt-get update && apt-get install -y --no-install-recommends \
+        ca-certificates \
+        cuda-command-line-tools-11-2 \
+        cuda-nvrtc-${CUDA/./-} \
+        libcublas-11-2 \
+        libcublas-dev-11-2 \
+        libcufft-11-2 \
+        libcurand-11-2 \
+        libcusolver-11-2 \
+        libcusparse-11-2 \
+        libcudnn8=${CUDNN_VERSION}-1+cuda${CUDA} \
+        libgomp1 \
+        build-essential \
+        curl \
+        libfreetype6-dev \
+        pkg-config \
+        software-properties-common \
+        unzip
+
+# 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 +1,28 @@
+# Recomandation for noetic build
+
+setuptools
+numpy 
+pandas 
+scipy
+sklearn
+future
+grpcio
+h5py
+requests
+opencv-python
+python-math
+random2
+pytest-warnings
+os.path2
+pydicom
+glob2
+pytest-shutil
+DateTime
+zipfile36
+urllib3
+tensorflow
+keras==2.3.1
+python-time
+trimesh
+librosa
+gym