From ce9dd68543b81564512c4ecd9c2dc533d41926b6 Mon Sep 17 00:00:00 2001 From: kazuki0824 Date: Tue, 1 Mar 2022 12:19:29 +0900 Subject: [PATCH 1/3] Add an experimental docker image --- .../Dockerfile.perceptioncamtest | 57 +++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 docker/docker_testbench/Dockerfile.perceptioncamtest diff --git a/docker/docker_testbench/Dockerfile.perceptioncamtest b/docker/docker_testbench/Dockerfile.perceptioncamtest new file mode 100644 index 00000000..9fc70364 --- /dev/null +++ b/docker/docker_testbench/Dockerfile.perceptioncamtest @@ -0,0 +1,57 @@ +FROM wamvtan/ros:galactic-ros-base-l4t-r32.6-trt +ENV DEBIAN_FRONTEND=noninteractive + +RUN mkdir -p /root/perception_camera_ws/src +WORKDIR /root/perception_camera_ws/src + +RUN git clone https://github.com/OUXT-Polaris/ouxt_common.git +RUN git clone -b master https://github.com/OUXT-Polaris/image_processing_utils.git +RUN git clone -b kazuki0824-remove-unused https://github.com/OUXT-Polaris/tensorrt_yolox.git +RUN git clone -b main https://github.com/tier4/tensorrt_cmake_module.git +RUN git clone -b main https://github.com/tier4/cuda_utils.git +RUN git clone https://github.com/tier4/tensorrt_common.git +RUN git clone -b ros2 https://github.com/ros-perception/vision_opencv.git + + +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + apt-get update && \ + apt-get upgrade -y && \ + apt-get install -y libssl-dev && \ + rosdep update && \ + rosdep install -y -r -i --from-paths /root/perception_camera_ws/src --ignore-src --rosdistro galactic \ + --skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" + +WORKDIR /root/perception_camera_ws/ +#ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/galactic/setup.bash && colcon build --symlink-install --packages-up-to tensorrt_common"] +#ADD entrypoint.sh / +#RUN chmod +x /entrypoint.sh +#ENTRYPOINT ["/entrypoint.sh"] + +RUN apt install g++-8 -y && \ + rm /usr/bin/gcc /usr/bin/g++ && \ + ln -s /usr/bin/gcc-8 /usr/bin/gcc && \ + ln -s /usr/bin/g++-8 /usr/bin/g++ + + +RUN echo "/usr/lib/aarch64-linux-gnu/tegra" >> /etc/ld.so.conf.d/nvidia-tegra.conf && \ + echo "/usr/lib/aarch64-linux-gnu/tegra-egl" >> /etc/ld.so.conf.d/nvidia-tegra.conf + +RUN rm /usr/share/glvnd/egl_vendor.d/50_mesa.json +RUN mkdir -p /usr/share/glvnd/egl_vendor.d/ && echo '\ +{\ + "file_format_version" : "1.0.0",\ + "ICD" : {\ + "library_path" : "libEGL_nvidia.so.0"\ + }\ +}' > /usr/share/glvnd/egl_vendor.d/10_nvidia.json + +RUN mkdir -p /usr/share/egl/egl_external_platform.d/ && echo '\ +{\ + "file_format_version" : "1.0.0",\ + "ICD" : {\ + "library_path" : "libnvidia-egl-wayland.so.1"\ + }\ +}' > /usr/share/egl/egl_external_platform.d/nvidia_wayland.json + +RUN echo "/usr/local/cuda-10.0/targets/aarch64-linux/lib" >> /etc/ld.so.conf.d/nvidia.conf + From 632ca644ed3434a8850704cea030486e66fcf7d7 Mon Sep 17 00:00:00 2001 From: kazuki0824 Date: Wed, 2 Mar 2022 02:27:04 +0900 Subject: [PATCH 2/3] Edit mount plugin settings? --- docker/docker_testbench/Dockerfile.perceptioncamtest | 3 +++ docker/l4t-ros2-base/Dockerfile | 2 ++ 2 files changed, 5 insertions(+) diff --git a/docker/docker_testbench/Dockerfile.perceptioncamtest b/docker/docker_testbench/Dockerfile.perceptioncamtest index 9fc70364..94a3f806 100644 --- a/docker/docker_testbench/Dockerfile.perceptioncamtest +++ b/docker/docker_testbench/Dockerfile.perceptioncamtest @@ -55,3 +55,6 @@ RUN mkdir -p /usr/share/egl/egl_external_platform.d/ && echo '\ RUN echo "/usr/local/cuda-10.0/targets/aarch64-linux/lib" >> /etc/ld.so.conf.d/nvidia.conf +#RUN apt install nvidia-container -y +#RUN apt install nvidia-container-csv-* -y + diff --git a/docker/l4t-ros2-base/Dockerfile b/docker/l4t-ros2-base/Dockerfile index 37bd2b6e..f6cbbcc7 100644 --- a/docker/l4t-ros2-base/Dockerfile +++ b/docker/l4t-ros2-base/Dockerfile @@ -88,6 +88,8 @@ RUN apt install -y \ nvidia-l4t-multimedia \ nvidia-l4t-tools \ nvidia-l4t-multimedia-utils \ +# nvidia-container \ +# nvidia-container-csv-* \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* \ && ldconfig From cc25ffe1a19801b1b80755bd620e93c1acb37e5b Mon Sep 17 00:00:00 2001 From: kazuki0824 Date: Tue, 12 Apr 2022 01:01:12 +0900 Subject: [PATCH 3/3] Add a section for Jetson Nano image --- docs/docs/tools/tools.md | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/docs/docs/tools/tools.md b/docs/docs/tools/tools.md index ad901243..52be6d23 100644 --- a/docs/docs/tools/tools.md +++ b/docs/docs/tools/tools.md @@ -120,4 +120,7 @@ torch2trt_1 | [02/26/2022-09:33:48] [TRT] [I] [MemUsageChange] TensorRT-managed torch2trt_1 | 2022-02-26 09:33:48.565 | INFO | __main__:main:71 - Converted TensorRT model done. torch2trt_1 | 2022-02-26 09:33:48.581 | INFO | __main__:main:79 - Converted TensorRT model engine file is saved for C++ inference. torch2trt_torch2trt_1 exited with code 0 -``` \ No newline at end of file +``` + +### Build Jetson Nano Image +