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Merge pull request #6 from RonaldsonBellande/noetic

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Ronaldson Bellande 2022-08-03 04:40:57 -04:00 committed by GitHub
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143
Dockerfile
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@ -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"]

5
catkin_setup.sh Normal file
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@ -0,0 +1,5 @@
#!/bin/bash
catkin build
source "/opt/ros/noetic/setup.bash"
source "$CATKIN_WS/devel/setup.bash"

176
gpu.Dockerfile
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@ -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/*;

19
requirements.txt
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@ -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

9
ros_repository_requirements.txt Normal file
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@ -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

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ros_requirements.txt Normal file
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# 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

29
system_requirements.txt Normal file
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@ -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