feat: Add Jetson humble docker image

EPFLXplore · Dec 9, 2023 · e4f4aa4 · e4f4aa4
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diff --git a/.github/workflows/docker_ci.yml b/.github/workflows/docker_ci.yml
@@ -40,9 +40,14 @@ jobs:
             platform: linux/amd64, linux/arm64
           - dockerfile: ./docker_foxy_jetson/Dockerfile
             context: ./docker_foxy_jetson
-            target: xplore_common
+            target: gazebo_nvidia
             tag: foxy-jetson
             platform: linux/arm64
+          - dockerfile: ./docker_humble_jetson/Dockerfile
+            context: ./docker_humble_jetson
+            target: gazebo_nvidia
+            tag: humble-jetson
+            platform: linux/arm64
 
     permissions:
       contents: read

diff --git a/docker_foxy_jetson/Dockerfile b/docker_foxy_jetson/Dockerfile
@@ -83,41 +83,10 @@ RUN rm -rf /var/lib/apt/lists/*
 
 ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
 
-###########################################
-#  Dev+Gazebo+Nvidia image 
-###########################################
-FROM dev 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 curl -sSL http://get.gazebosim.org | sh
-
-# 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
-
 ###########################################
 #  Xplore Common image
 ###########################################
-FROM gazebo_nvidia AS xplore_common
+FROM dev AS xplore_common
 
 ARG DEBIAN_FRONTEND=noninteractive
 
@@ -147,13 +116,50 @@ 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}-gazebo-ros-pkgs \
     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/*
+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 curl -sSL http://get.gazebosim.org | sh
+
+# Install Gazebo ROS packages
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
diff --git a/docker_foxy_jetson/build.sh b/docker_foxy_jetson/build.sh
@@ -1 +1 @@
-docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target xplore_common .
+docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target gazebo_nvidia .
diff --git a/docker_foxy_jetson/fresh_build.sh b/docker_foxy_jetson/fresh_build.sh
@@ -1 +1 @@
-docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target xplore_common .
+docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target gazebo_nvidia .
diff --git a/docker_humble_jetson/Dockerfile b/docker_humble_jetson/Dockerfile
@@ -0,0 +1,165 @@
+###########################################
+# Base image 
+###########################################
+FROM dustynv/ros:humble-desktop-l4t-r35.4.1 AS base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y locales \
+    && locale-gen en_US en_US.UTF-8 \
+    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG en_US.UTF-8
+
+# Install timezone
+ENV TZ=Europe/Zurich
+RUN apt-get update && apt-get install -y tzdata \
+    && ln -sf /usr/share/zoneinfo/$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/${USERNAME}/.bashrc
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
+
+###########################################
+#  Xplore Common image
+###########################################
+FROM dev AS xplore_common
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install EposCmd library
+WORKDIR /usr/local/lib
+COPY ./EposCmd/lib/libEposCmd.so.6.7.1.0 .
+COPY ./EposCmd/lib/libftd2xx.so.1.4.27 .
+RUN ln -s libEposCmd.so.6.7.1.0 libEposCmd.so
+RUN ln -s libftd2xx.so.1.4.27 libftd2xx.so
+
+WORKDIR /usr/lib
+RUN ln -s /usr/local/lib/libEposCmd.so libEposCmd.so
+RUN ln -s /usr/local/lib/libftd2xx.so libftd2xx.so
+
+WORKDIR /usr/include
+COPY ./EposCmd/include/Definitions.h .
+COPY ./EposCmd/include/ftd2xx.h .
+RUN mv Definitions.h EposCmd.h
+
+WORKDIR /etc/udev/rules.d
+COPY ./EposCmd/misc/99-ftdi.rules .
+COPY ./EposCmd/misc/99-epos4.rules .
+RUN /etc/init.d/udev restart
+
+# Install common ROS 2 packages
+RUN apt-get update && apt-get upgrade -y
+# RUN apt-get purge -y '*opencv*'
+# RUN apt-get install -y --no-install-recommends \
+#     ros-${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 $USERNAME
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+###########################################
+#  Dev+Gazebo+Nvidia image 
+###########################################
+FROM xplore_common AS gazebo_nvidia
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+    && apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6
+
+# Install Gazebo
+RUN curl -sSL http://get.gazebosim.org | sh
+
+# Install Gazebo ROS packages
+# RUN apt-get update && apt-get upgrade -y
+# RUN apt-get install -y --no-install-recommends \
+#     ros-${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
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target xplore_common .
		docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target gazebo_nvidia .
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target xplore_common .
		docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-jetson --target gazebo_nvidia .