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Add an experimental docker image #171

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Add an experimental docker image #171

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ce9dd68
Add an experimental docker image
kazuki0824 Mar 1, 2022
632ca64
Edit mount plugin settings?
kazuki0824 Mar 1, 2022
cc25ffe
Add a section for Jetson Nano image
kazuki0824 Apr 11, 2022
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60 changes: 60 additions & 0 deletions docker/docker_testbench/Dockerfile.perceptioncamtest
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Original file line number Diff line number Diff line change
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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

#RUN apt install nvidia-container -y
#RUN apt install nvidia-container-csv-* -y

2 changes: 2 additions & 0 deletions docker/l4t-ros2-base/Dockerfile
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Expand Up @@ -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
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