add torch image

.github/workflows/docker_ci.yml

@@ -68,6 +68,11 @@ jobs:
             target: gazebo_nvidia
             tag: humble-jetson
             platform: linux/arm64
+          - dockerfile: ./docker_humble_jetson_torch/Dockerfile
+            context: ./docker_humble_jetson_torch
+            target: gazebo_nvidia
+            tag: humble-jetson-torch
+            platform: linux/arm64
 
     permissions:
       contents: read

docker_humble_jetson copy/Dockerfile

@@ -0,0 +1,168 @@
+###########################################
+# Base image 
+###########################################
+FROM dustynv/ros:humble-desktop-l4t-r36.2.0 AS base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y locales \
+    && locale-gen en_US en_US.UTF-8 \
+    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG en_US.UTF-8
+
+# Install timezone
+ENV TZ=Europe/Zurich
+RUN apt-get update && apt-get install -y tzdata \
+    && ln -sf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone \
+    && dpkg-reconfigure tzdata
+
+# Install common programs
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    gnupg2 \
+    lsb-release \
+    sudo \
+    software-properties-common \
+    wget
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+ENV ROS_DISTRO=humble
+ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
+ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib
+ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
+ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3.10/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+
+###########################################
+#  Develop image 
+###########################################
+FROM base AS dev
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    bash-completion \
+    build-essential \
+    cmake \
+    gdb \
+    git \
+    openssh-client \
+    python3-argcomplete \
+    python3-pip \
+    ros-dev-tools \
+    vim
+
+RUN rosdep init || echo "rosdep already initialized"
+
+ENV USERNAME=xplore
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    # Add sudo support for the non-root user
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/${USERNAME}/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/; fi" >> /home/${USERNAME}/.bashrc \
+    && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/${USERNAME}/.bashrc
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
+
+###########################################
+#  Xplore Common image
+###########################################
+FROM dev AS xplore_common
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install EposCmd library
+WORKDIR /usr/local/lib
+COPY ./EposCmd/lib/libEposCmd.so.6.7.1.0 .
+COPY ./EposCmd/lib/libftd2xx.so.1.4.8 .
+RUN ln -s libEposCmd.so.6.7.1.0 libEposCmd.so
+RUN ln -s libftd2xx.so.1.4.8 libftd2xx.so
+
+WORKDIR /usr/lib
+RUN ln -s /usr/local/lib/libEposCmd.so libEposCmd.so
+RUN ln -s /usr/local/lib/libftd2xx.so libftd2xx.so
+
+WORKDIR /usr/include
+COPY ./EposCmd/include/Definitions.h .
+COPY ./EposCmd/include/ftd2xx.h .
+RUN mv Definitions.h EposCmd.h
+
+WORKDIR /etc/udev/rules.d
+COPY ./EposCmd/misc/99-ftdi.rules .
+COPY ./EposCmd/misc/99-epos4.rules .
+RUN /etc/init.d/udev restart
+
+# Install common ROS 2 packages
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get purge -y '*opencv*'
+RUN apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
+    ros-${ROS_DISTRO}-xacro
+
+WORKDIR /home/$USERNAME
+
+# Allow non-root user to access the serial ports
+RUN usermod -aG dialout $USERNAME
+# Allow non-root user to access the video devices
+RUN usermod -aG video $USERNAME
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+###########################################
+#  Dev+Gazebo+Nvidia image 
+###########################################
+FROM xplore_common AS gazebo_nvidia
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+    && apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6
+
+# Install Gazebo
+RUN add-apt-repository ppa:openrobotics/gazebo11-non-amd64
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    gazebo \
+    libgazebo-dev
+
+# Install Gazebo ROS packages
+RUN apt-get update && apt-get upgrade -y
+# RUN apt-get install -y --no-install-recommends \
+#     ros-${ROS_DISTRO}-gazebo-ros-pkgs
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1