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DCIST Master

Docker CI Build

This is the base image used for the DCIST robots at KR, including the Jackals and the high-altitude UAV. Images are automatically built and pushed to Docker Hub.

TL;DR:

  • It installs the dependencies required by many user packages (see dcist-master/Dockerfile).
  • It copies the ws main dcist workspace and builds it.
  • It provides helper scripts build.bash, run.bash and join.bash

Architectures

Three architectures are provided:

  • kumarrobotics/dcist-master-bare - x86_64 CPU: To run in CPU-only platforms, such as the Intel NUC for the high-altitude quads. Based on ubuntu Docker images.
  • kumarrobotics/dcist-master-nvda - x86_64 CUDA: To run in x86_64 GPU-accelerated platforms, such as the computers on the Jackals. Based on nvidia/cuda Docker images.
  • kumarrobotics/dcist-master-nvda - arm64 CUDA: To run in Nvidia Jetson platforms.

How to use?

docker pull kumarrobotics/dcist-master-bare:latest # For bare image, check above
./run.bash dcist-master bare
# If you need to join the environment later
./join.bash dcist-master bare

How to build?

./build.bash dcist-master

Notes on image building

Important: Only tagged versions are pushed as the latest image.

Github actions build and push docker images for kumarrobotics/dcist-master in Docker Hub. The upstream image is different for x86_64 and arm64, and it can be defined in build.bash.