docker

2022-08-02 23:48:00 -04:00 · 2022-08-02 23:48:00 -04:00 · 802385f153
commit 802385f153
parent 3d8b71c4d4
7 changed files with 185 additions and 211 deletions
--- a/143
+++ b/143
@ -1,14 +1,17 @@
+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 BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0

-ARG ROS_ENVIROMENT_VERSION_GIT_BRANCH=master
-ARG ROS_ENVIROMENT_VERSION_GIT_COMMIT=HEAD
+ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
+ARG ROS_ARCHITECTURE_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}
+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
@ -17,98 +20,54 @@ 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 .

-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 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 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
+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 
+# Pip install update 
 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
+
+# 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
@ -1,14 +1,21 @@
+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"
-ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
+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_ENVIROMENT_VERSION_GIT_BRANCH=master
-ARG ROS_ENVIROMENT_VERSION_GIT_COMMIT=HEAD
+ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
+ARG ROS_ARCHITECTURE_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}
+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
@ -17,128 +24,67 @@ 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 .

-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 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 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
+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 
+# Pip install update 
 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

+# 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 \
-        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${CUDA} \
-        libgomp1 \
-        build-essential \
-        curl \
-        libfreetype6-dev \
-        pkg-config \
-        software-properties-common \
-        unzip
+  apt-get update && apt-get install -y --no-install-recommends \
+  cuda-nvrtc-${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/*;
+  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
@ -1,7 +1,6 @@
-# Recomandation for noetic build
+# Recomandation for library to install in python

 setuptools
-numpy 
 pandas 
 scipy
 sklearn
@ -20,9 +19,21 @@ pytest-shutil
 DateTime
 zipfile36
 urllib3
-tensorflow
-keras==2.3.1
 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