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eric-hsiungeric-hsiung
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Adjust build
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‎codebotler_ws/docker/Dockerfile‎

Lines changed: 282 additions & 3 deletions
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# - Docker container must match jetpack version installed on Jetson
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# - Image list: https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags
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# - ROS2 Humble is used for Jetson Orin OpenCV and Python version compatibility
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# - This image builds off of the cobot_ws image
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# =============================================================================
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# JetPack container: includes CUDA, cuDNN, TensorRT, VPI, Jetson Multimedia, and so on
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FROM cobot_ws AS base
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ARG BASE_IMAGE=nvcr.io/nvidia/l4t-jetpack:r36.4.0
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# ML container: includes TensorFlow, PyTorch, JupyterLab, and other popular ML and data science frameworks such as scikit-learn, scipy, and Pandas pre-installed in a Python environment.
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#ARG BASE_IMAGE=nvcr.io/nvidia/l4t-ml:r36.2.0-py3
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FROM ${BASE_IMAGE}
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ARG uid
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ARG ros_distro=humble
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ARG gid
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ARG uid
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ARG username
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# Set non-interactive installation
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ENV DEBIAN_FRONTEND=noninteractive
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# Setup Locale
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RUN apt-get update && apt-get install -y locales \
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&& locale-gen en_US.UTF-8
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ENV LANG=en_US.UTF-8
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ENV LANGUAGE=en_US:en
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ENV LC_ALL=en_US.UTF-8
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# Install base dependencies
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RUN apt-get update && apt-get install -y \
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build-essential \
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cmake \
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git \
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wget \
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curl \
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gnupg2 \
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lsb-release \
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software-properties-common \
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&& rm -rf /var/lib/apt/lists/*
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# Setup Isaac ROS2 APT repository
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RUN wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
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grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" /etc/apt/sources.list || \
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echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | tee -a /etc/apt/sources.list
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# Setup Offical ROS2 APT repository
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# Install Core ROS 2 Humble packages
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RUN apt-get update && apt-get install -y \
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ros-humble-desktop-full \
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ros-dev-tools \
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&& rm -rf /var/lib/apt/lists/*
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# Install Isaac ROS common dependencies and VPI
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# Note: VPI libraries are also part of the Jetson host system and will be mounted.
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# This ensures any additional dependencies are met inside the container.
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RUN apt-get update && apt-get install -y \
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ros-humble-isaac-ros-common \
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&& rm -rf /var/lib/apt/lists/*
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# Initialize rosdep
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RUN rosdep init && \
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rosdep update
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# =============================================================================
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# Realsense
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# =============================================================================
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#RUN apt-get update && apt-get install -y \
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# kmod \
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# && rm -rf /var/lib/apt/lists/*
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#COPY scripts/install_realsense_library.sh /tmp/install_realsense_library.sh
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#COPY external/librealsense /tmp/librealsense
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#RUN /tmp/install_realsense_library.sh && rm /tmp/install_realsense_library.sh
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# =============================================================================
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# UT AUTOmata dependencies
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# =============================================================================
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RUN apt-get update && apt-get install -y \
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libgoogle-glog-dev \
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libgflags-dev \
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liblua5.1-0-dev \
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libqt5websockets5-dev \
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libqt5opengl5-dev \
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&& rm -rf /var/lib/apt/lists/*
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## =============================================================================
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## GStreamer (for camera streaming)
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## =============================================================================
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#RUN apt-get update && apt-get install -y \
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# gstreamer1.0-plugins-base \
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# gstreamer1.0-plugins-good \
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# gstreamer1.0-plugins-bad \
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# gstreamer1.0-plugins-ugly \
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# gstreamer1.0-libav \
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# gstreamer1.0-tools \
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# gstreamer1.0-x \
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# && rm -rf /var/lib/apt/lists/*
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# =============================================================================
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# EGL, OpenGL libraries (for GUI applications)
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# =============================================================================
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RUN apt-get update && apt-get install -y \
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libegl1 \
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libegl1-mesa \
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libgles2-mesa \
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libgles2 \
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libapr1-dev \
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libglvnd-dev \
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libgl1-mesa-glx \
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libgl1-mesa-dri \
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mesa-utils-extra \
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&& rm -rf /var/lib/apt/lists/*
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# =============================================================================
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# Install Kinect SDK
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# =============================================================================
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RUN apt-get update && apt-get install -y \
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libgtk-3-dev \
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build-essential \
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git \
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cmake \
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libssl-dev \
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libsoundio-dev \
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libjpeg-dev \
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libturbojpeg-dev \
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ninja-build \
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&& rm -rf /var/lib/apt/lists/*
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# Install Deps
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# Define variables
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ENV SDK_VERSION="1.4.2"
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ENV ARCH="arm64"
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ENV DEB_PACKAGE="libk4a1.4_${SDK_VERSION}_${ARCH}.deb"
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ENV DEB_URL="https://packages.microsoft.com/ubuntu/18.04/multiarch/prod/pool/main/libk/libk4a1.4/${DEB_PACKAGE}"
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# Install proprietary depth engine
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RUN mkdir -p /tmp/k4a_deps && cd /tmp/k4a_deps && \
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wget ${DEB_URL} && \
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ar x "${DEB_PACKAGE}" && \
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ls -lah . && \
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tar -zxf data.tar.gz && \
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# Copy the depthengine to the Azure Kinect build directory
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cp /tmp/k4a_deps/usr/lib/aarch64-linux-gnu/libk4a1.4/libdepthengine.so.2.0 /usr/local/lib/ && \
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ldconfig && \
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# Clean up
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cd /tmp && \
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rm -rf /tmp/k4a_deps
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# Build SDK from source
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RUN cd /tmp && \
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git clone --branch v1.4.2 https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git --recurse-submodules
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COPY patches/kinect-hmac-fix.patch /tmp/Azure-Kinect-Sensor-SDK/kinect-hmac-fix.patch
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COPY patches/kinect-ssl.patch /tmp/Azure-Kinect-Sensor-SDK/kinect-ssl.patch
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COPY patches/ebml.patch /tmp/Azure-Kinect-Sensor-SDK/patches/ebml.patch
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COPY patches/k4a.patch /tmp/Azure-Kinect-Sensor-SDK/patches/k4a.patch
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COPY patches/examples.patch /tmp/Azure-Kinect-Sensor-SDK/patches/examples.patch
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RUN openssl version
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RUN cd /tmp/Azure-Kinect-Sensor-SDK && \
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cp scripts/99-k4a.rules /etc/udev/rules.d/ && \
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patch -p1 -i kinect-hmac-fix.patch && \
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patch -p1 -i kinect-ssl.patch && \
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patch -p1 -i patches/ebml.patch && \
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patch -p1 -i patches/k4a.patch && \
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patch -p1 -i patches/examples.patch && \
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head -n20 tools/k4aviewer/k4adepthpixelcolorizer.h && \
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mkdir build && cd build && \
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cmake -GNinja -DCMAKE_C_FLAGS="-Wno-deprecated-declarations -Wno-error=discarded-qualifiers" .. && \
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ninja && \
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sudo ninja install && \
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rm -rf /tmp/Azure-Kinect-Sensor-SDK
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COPY scripts/ros2_nav_deps.sh /tmp/ros2_nav_deps.sh
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RUN /tmp/ros2_nav_deps.sh && rm /tmp/ros2_nav_deps.sh
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COPY scripts/ros2_deps.sh /tmp/ros2_deps.sh
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RUN /tmp/ros2_deps.sh && rm /tmp/ros2_deps.sh
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COPY scripts/install_livox_lidar.sh /tmp/install_livox_lidar.sh
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RUN /tmp/install_livox_lidar.sh && rm /tmp/install_livox_lidar.sh
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# =============================================================================
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# TODO: move up deep learning deps
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# =============================================================================
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RUN pip3 install torch==2.6.0 --index-url https://download.pytorch.org/whl/cu126
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# So we can detect if we are in a container
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ENV CONTAINER_NAME=cobot_ws
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# =============================================================================
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# Install Kinova python API
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# =============================================================================
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RUN python3 -m pip install --no-cache-dir \
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protobuf==3.20.0 \
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deprecated==1.2.7 \
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paho-mqtt==1.6.1 \
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mypy \
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mypy-protobuf \
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types-protobuf
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RUN wget https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/kortex_api-2.5.0.post6-py3-none-any.whl \
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&& python3 -m pip install --no-deps kortex_api-2.5.0.post6-py3-none-any.whl \
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&& rm kortex_api-2.5.0.post6-py3-none-any.whl
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RUN apt-get update && apt-get install -y --no-install-recommends \
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libhidapi-hidraw0 \
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libhidapi-libusb0 \
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libusb-1.0-0 \
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&& rm -rf /var/lib/apt/lists/*
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RUN python3 -m pip install --no-cache-dir hidapi
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# =============================================================================
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# Spacemouse/Joystick Depdencies
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# =============================================================================
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RUN apt-get update && apt-get install -y \
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libhidapi-hidraw0 \
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joystick \
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&& rm -rf /var/lib/apt/lists/*
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# ============================================================================
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# Kinova Vision dependencies
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# ============================================================================
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RUN apt-get update && apt-get install -y \
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gstreamer1.0-tools \
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gstreamer1.0-libav \
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libgstreamer1.0-dev \
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libgstreamer-plugins-base1.0-dev \
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libgstreamer-plugins-good1.0-dev \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-base \
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&& rm -rf /var/lib/apt/lists/*
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# ============================================================================
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# Kinova ROS dependencies
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# ============================================================================
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RUN apt-get update && apt-get install -y \
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libcap-dev \
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libdw-dev \
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&& rm -rf /var/lib/apt/lists/*
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# remove, if installed, the pointcloud_to_laserscan package
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RUN apt-get remove --purge -y ros-$ROS_DISTRO-pointcloud-to-laserscan || true
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# =============================================================================
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# User Creation and Configuration
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# =============================================================================
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ENV UID=$uid
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ENV GID=$gid
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ENV USERNAME=$username
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ENV ROS_DISTRO=$ros_distro
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# Create user and group, then configure sudo
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RUN set -e && \
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# Create group if it doesn't exist
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getent group ${GID} || groupadd -g ${GID} ${USERNAME} && \
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# Handle user creation/modification
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if id ${UID} >/dev/null 2>&1; then \
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# User with this UID exists, modify it
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existing_user=$(id -nu ${UID}) && \
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usermod -l ${USERNAME} -d /home/${USERNAME} -m $existing_user 2>/dev/null || true && \
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usermod -g ${GID} ${USERNAME} 2>/dev/null || true; \
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else \
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# Create new user
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useradd -u ${UID} -g ${GID} -m -s /bin/bash ${USERNAME}; \
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fi && \
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# Ensure home directory exists and has correct ownership
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mkdir -p /home/${USERNAME} && \
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chown -R ${UID}:${GID} /home/${USERNAME} && \
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# Add to sudo group and configure passwordless sudo
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usermod -aG sudo ${USERNAME} && \
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echo "${USERNAME} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/${USERNAME} && \
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chmod 0440 /etc/sudoers.d/${USERNAME} && \
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visudo -c && \
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# Add the user to the video group for access to video devices
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usermod -aG video ${USERNAME}
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RUN echo "export PATH=/home/${USERNAME}/.local/bin/:${PATH}" >> /home/${USERNAME}/.bash_profile && \
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echo "export LC_ALL=C.UTF-8" >> /home/${USERNAME}/.bash_profile && \
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echo "export LANG=C.UTF-8" >> /home/${USERNAME}/.bash_profile && \
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echo "alias killros2='killall -9 ros2 _ros2_daemon rviz2 gzserver robot_state_publisher gzclient controller_server lifecycle_manager'" >> /home/${USERNAME}/.bash_profile && \
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echo "source \"/opt/ros/${ROS_DISTRO}/setup.bash\" --" >> /home/${USERNAME}/.bash_profile && \
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echo "source \"/home/${USERNAME}/cobot_ws/install/setup.bash\" --" >> /home/${USERNAME}/.bash_profile && \
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echo "export ROS_VERSION=2" >> /home/${USERNAME}/.bash_profile && \
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echo "export PS1='\\[\\e[0;32m\\][docker]:\\u@\\h:\\w\\$ \\[\\e[0m\\]'" >> /home/${USERNAME}/.bash_profile && \
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echo "export LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/torch/lib:\$LD_LIBRARY_PATH" >> /home/${USERNAME}/.bash_profile && \
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echo "cd /home/${USERNAME}/cobot_ws" >> /home/${USERNAME}/.bash_profile
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# =============================================================================
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# Switch to User Context
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# =============================================================================
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USER $username
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ENV HOME=/home/$username
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WORKDIR /home/$username
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# Set environment variable for Miniconda installation directory
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ENV CONDA_DIR /home/$username/.miniconda3

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