182 lines
5.4 KiB
Docker
182 lines
5.4 KiB
Docker
##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3 AS l4t_pytorch
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# Install ros components:
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RUN apt-get update &&\
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apt-get install -y sudo git bash unattended-upgrades glmark2 &&\
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rm -rf /var/lib/apt/lists/*
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# Deal with getting tons of debconf messages
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# See: https://github.com/phusion/baseimage-docker/issues/58
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RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
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# TODO: Don't hardcode timezone setting to Los_Angeles, pull from host computer
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# Set timezone info
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RUN apt-get update && apt-get install -y \
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tzdata \
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&& rm -rf /var/lib/apt/lists/* \
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&& ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
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&& echo "America/Los_Angeles" > /etc/timezone \
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&& dpkg-reconfigure -f noninteractive tzdata
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# Install apt-get packages necessary for building, downloading, etc
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# NOTE: Dockerfile best practices recommends having apt-get update
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# and install commands in one line to avoid apt-get caching issues.
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# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#run
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RUN apt-get update && apt-get install -y \
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curl \
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lsb-core \
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software-properties-common \
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wget \
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&& rm -rf /var/lib/apt/lists/*
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RUN add-apt-repository -y ppa:git-core/ppa
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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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git-lfs \
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iputils-ping \
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make \
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openssh-server \
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openssh-client \
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libeigen3-dev \
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libssl-dev \
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python3-pip \
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python3-ipdb \
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python3-tk \
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python3-wstool \
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sudo git bash unattended-upgrades \
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apt-utils \
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terminator \
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&& rm -rf /var/lib/apt/lists/*
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ARG ROS_PKG=ros_base # desktop does not work
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ENV ROS_DISTRO=noetic
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ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
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ENV ROS_PYTHON_VERSION=3
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ENV DEBIAN_FRONTEND=noninteractive
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WORKDIR /workspace
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#
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# add the ROS deb repo to the apt sources list
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#
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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git \
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cmake \
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build-essential \
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curl \
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wget \
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gnupg2 \
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lsb-release \
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ca-certificates \
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&& rm -rf /var/lib/apt/lists/*
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
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#
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# install bootstrap dependencies
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#
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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libpython3-dev \
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python3-rosdep \
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python3-rosinstall-generator \
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python3-vcstool \
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build-essential && \
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rosdep init && \
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rosdep update && \
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rm -rf /var/lib/apt/lists/*
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#
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# Optionally download/build the ROS source
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#
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RUN mkdir ros_catkin_ws && \
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cd ros_catkin_ws && \
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rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
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mkdir src && \
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vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
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apt-get update && \
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rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
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python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
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rm -rf /var/lib/apt/lists/*
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RUN pip3 install trimesh \
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numpy-quaternion \
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networkx \
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pyyaml \
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rospkg \
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rosdep \
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empy
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# Add cache date to avoid using cached layers older than this
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ARG CACHE_DATE=2023-12-15
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# warp from https://github.com/NVIDIA/warp needs to be compiled locally and then
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# placed in curobo/docker/pkgs.
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# Run the following from your terminal:
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# cd curobo/docker && mkdir pkgs && cd pkgs && git clone https://github.com/NVIDIA/warp.git
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# cd warp && python build_libs.py
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#
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# copy pkgs directory:
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COPY pkgs /pkgs
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# install warp:
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#
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RUN cd /pkgs/warp && pip3 install .
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# install curobo:
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RUN cd /pkgs && git clone https://github.com/NVlabs/curobo.git
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ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
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RUN cd /pkgs/curobo && pip3 install .[dev] --no-build-isolation
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WORKDIR /pkgs/curobo
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# Optionally install nvblox:
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ENV PYOPENGL_PLATFORM=egl
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RUN apt-get update && \
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apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev libbenchmark-dev && \
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cd /usr/src/googletest && cmake . && cmake --build . --target install && \
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rm -rf /var/lib/apt/lists/*
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RUN cd /pkgs && git clone https://github.com/valtsblukis/nvblox.git && \
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cd nvblox && cd nvblox && mkdir build && cd build && \
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cmake .. -DPRE_CXX11_ABI_LINKABLE=ON && \
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make -j32 && \
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make install
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RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
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cd nvblox_torch && \
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sh install.sh $(python -c 'import torch.utils; print(torch.utils.cmake_prefix_path)') && \
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python3 -m pip install -e .
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RUN python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
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# upgrade typing extensions:
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RUN python3 -m pip install typing-extensions --upgrade
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# numpy can regress to an older version, upgrading.
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RUN python3 -m pip install numpy --upgrade |