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| 1 | +# |
| 2 | +# This dockerfile roughly follows the 'Installing from source' ROS instructions from: |
| 3 | +# http://wiki.ros.org/noetic/Installation/Source |
| 4 | +# |
| 5 | +ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.6.1 |
| 6 | +FROM ${BASE_IMAGE} |
| 7 | +ARG device=nx |
| 8 | + |
| 9 | +ARG ROS_PKG=ros_base |
| 10 | +ENV ROS_DISTRO=noetic |
| 11 | +ENV ROS_ROOT=/opt/ros/${ROS_DISTRO} |
| 12 | +ENV ROS_PYTHON_VERSION=3 |
| 13 | + |
| 14 | +ENV DEBIAN_FRONTEND=noninteractive |
| 15 | + |
| 16 | +ENV CUDA_HOME="/usr/local/cuda" |
| 17 | +ENV PATH="/usr/local/cuda/bin:${PATH}" |
| 18 | +ENV LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}" |
| 19 | + |
| 20 | +WORKDIR /workspace |
| 21 | + |
| 22 | +# |
| 23 | +# OpenCV - https://github.com/mdegans/nano_build_opencv/blob/master/build_opencv.sh |
| 24 | +# |
| 25 | +ARG OPENCV_VERSION="4.4.0" |
| 26 | + |
| 27 | +# install build dependencies |
| 28 | +RUN apt-get update && \ |
| 29 | + apt-get install -y --no-install-recommends \ |
| 30 | + build-essential \ |
| 31 | + gfortran \ |
| 32 | + cmake \ |
| 33 | + git \ |
| 34 | + file \ |
| 35 | + tar \ |
| 36 | + libatlas-base-dev \ |
| 37 | + libavcodec-dev \ |
| 38 | + libavformat-dev \ |
| 39 | + libavresample-dev \ |
| 40 | + libcanberra-gtk3-module \ |
| 41 | + libdc1394-22-dev \ |
| 42 | + libeigen3-dev \ |
| 43 | + libglew-dev \ |
| 44 | + libgstreamer-plugins-base1.0-dev \ |
| 45 | + libgstreamer-plugins-good1.0-dev \ |
| 46 | + libgstreamer1.0-dev \ |
| 47 | + libgtk-3-dev \ |
| 48 | + libjpeg-dev \ |
| 49 | + libjpeg8-dev \ |
| 50 | + libjpeg-turbo8-dev \ |
| 51 | + liblapack-dev \ |
| 52 | + liblapacke-dev \ |
| 53 | + libopenblas-dev \ |
| 54 | + libpng-dev \ |
| 55 | + libpostproc-dev \ |
| 56 | + libswscale-dev \ |
| 57 | + libtbb-dev \ |
| 58 | + libtbb2 \ |
| 59 | + libtesseract-dev \ |
| 60 | + libtiff-dev \ |
| 61 | + libv4l-dev \ |
| 62 | + libxine2-dev \ |
| 63 | + libxvidcore-dev \ |
| 64 | + libx264-dev \ |
| 65 | + libgtkglext1 \ |
| 66 | + libgtkglext1-dev \ |
| 67 | + pkg-config \ |
| 68 | + qv4l2 \ |
| 69 | + v4l-utils \ |
| 70 | + zlib1g-dev |
| 71 | + |
| 72 | +RUN apt-get install ca-certificates -y |
| 73 | + |
| 74 | +# OpenCV looks for the cuDNN version in cudnn_version.h, but it's been renamed to cudnn_version_v8.h |
| 75 | +RUN ln -s /usr/include/$(uname -i)-linux-gnu/cudnn_version_v8.h /usr/include/$(uname -i)-linux-gnu/cudnn_version.h |
| 76 | + |
| 77 | +# Architecture-specific build options |
| 78 | +ARG CUDA_ARCH_BIN="" |
| 79 | +ARG ENABLE_NEON="OFF" |
| 80 | + |
| 81 | +# Clone and configure OpenCV repo |
| 82 | +RUN git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv.git && \ |
| 83 | + git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv_contrib.git && \ |
| 84 | + cd opencv && \ |
| 85 | + mkdir build && \ |
| 86 | + cd build && \ |
| 87 | + echo "configuring OpenCV ${OPENCV_VERSION}, CUDA_ARCH_BIN=${CUDA_ARCH_BIN}, ENABLE_NEON=${ENABLE_NEON}" && \ |
| 88 | + cmake \ |
| 89 | + -D CPACK_BINARY_DEB=ON \ |
| 90 | + -D BUILD_EXAMPLES=OFF \ |
| 91 | + -D BUILD_opencv_python2=OFF \ |
| 92 | + -D BUILD_opencv_python3=ON \ |
| 93 | + -D BUILD_opencv_java=OFF \ |
| 94 | + -D CMAKE_BUILD_TYPE=RELEASE \ |
| 95 | + -D CMAKE_INSTALL_PREFIX=/usr/local \ |
| 96 | + -D CUDA_ARCH_BIN=${CUDA_ARCH_BIN} \ |
| 97 | + -D CUDA_ARCH_PTX= \ |
| 98 | + -D CUDA_FAST_MATH=ON \ |
| 99 | + -D CUDNN_INCLUDE_DIR=/usr/include/$(uname -i)-linux-gnu \ |
| 100 | + -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \ |
| 101 | + -D WITH_EIGEN=ON \ |
| 102 | + -D ENABLE_NEON=${ENABLE_NEON} \ |
| 103 | + -D OPENCV_DNN_CUDA=ON \ |
| 104 | + -D OPENCV_ENABLE_NONFREE=ON \ |
| 105 | + -D OPENCV_EXTRA_MODULES_PATH=/workspace/opencv_contrib/modules \ |
| 106 | + -D OPENCV_GENERATE_PKGCONFIG=ON \ |
| 107 | + -D WITH_CUBLAS=ON \ |
| 108 | + -D WITH_CUDA=ON \ |
| 109 | + -D WITH_CUDNN=ON \ |
| 110 | + -D WITH_GSTREAMER=ON \ |
| 111 | + -D WITH_LIBV4L=ON \ |
| 112 | + -D WITH_OPENGL=ON \ |
| 113 | + -D WITH_OPENCL=OFF \ |
| 114 | + -D WITH_IPP=OFF \ |
| 115 | + -D WITH_TBB=ON \ |
| 116 | + -D BUILD_TIFF=ON \ |
| 117 | + -D BUILD_PERF_TESTS=OFF \ |
| 118 | + -D BUILD_TESTS=OFF \ |
| 119 | + ../ |
| 120 | + |
| 121 | +RUN cd opencv/build && make -j$(nproc) |
| 122 | +RUN cd opencv/build && make install |
| 123 | +RUN cd opencv/build && make package |
| 124 | + |
| 125 | +RUN cd opencv/build && tar -czvf OpenCV-${OPENCV_VERSION}-$(uname -i).tar.gz *.deb |
| 126 | + |
| 127 | +RUN apt-get update -y |
| 128 | +RUN apt-get install software-properties-common -y && \ |
| 129 | + apt-get update |
| 130 | + |
| 131 | +# Add the ROS deb repo to the apt sources list |
| 132 | + |
| 133 | +RUN apt-get update && \ |
| 134 | + apt-get install -y --no-install-recommends \ |
| 135 | + git \ |
| 136 | + cmake \ |
| 137 | + build-essential \ |
| 138 | + curl \ |
| 139 | + wget \ |
| 140 | + gnupg2 \ |
| 141 | + lsb-release \ |
| 142 | + ca-certificates \ |
| 143 | + && rm -rf /var/lib/apt/lists/* |
| 144 | + |
| 145 | +RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' |
| 146 | +RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - |
| 147 | + |
| 148 | +# |
| 149 | +# Install bootstrap dependencies |
| 150 | +# |
| 151 | +RUN apt-get update && \ |
| 152 | + apt-get install -y --no-install-recommends \ |
| 153 | + libpython3-dev \ |
| 154 | + python3-rosdep \ |
| 155 | + python3-rosinstall-generator \ |
| 156 | + python3-vcstool \ |
| 157 | + libyaml-cpp-dev \ |
| 158 | + build-essential && \ |
| 159 | + rosdep init && \ |
| 160 | + rosdep update && \ |
| 161 | + rm -rf /var/lib/apt/lists/* |
| 162 | + |
| 163 | +# |
| 164 | +# Download/build the ROS source |
| 165 | +# |
| 166 | +RUN mkdir ros_catkin_ws && \ |
| 167 | + cd ros_catkin_ws && \ |
| 168 | + # try below for ros-noetic-vision-msgs ros-noetic-geometry-msgs ros-noetic-sensor-msgs ros-noetic-audio-common-msgs \ |
| 169 | + rosinstall_generator ${ROS_PKG} audio_common_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \ |
| 170 | + rosinstall_generator ${ROS_PKG} sensor_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \ |
| 171 | + rosinstall_generator ${ROS_PKG} geometry_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \ |
| 172 | + rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \ |
| 173 | + mkdir src && \ |
| 174 | + cd src && \ |
| 175 | + git clone https://github.com/ros/resource_retriever && \ |
| 176 | + cd ../ && \ |
| 177 | + vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \ |
| 178 | + apt-get update && \ |
| 179 | + apt-get install -y gir1.2-gstreamer-1.0 && \ |
| 180 | + rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \ |
| 181 | + python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \ |
| 182 | + rm -rf /var/lib/apt/lists/* |
| 183 | + |
| 184 | + |
| 185 | +RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /root/.bashrc |
| 186 | +CMD ["bash"] |
| 187 | +WORKDIR / |
| 188 | + |
| 189 | +RUN git clone --depth 1 --recurse-submodules -j8 --branch tx2_install_dev https://github.com/opendr-eu/opendr |
| 190 | +RUN apt-get update |
| 191 | +RUN cd ./opendr && ./bin/install_nvidia.sh $device |
| 192 | +RUN cd ./opendr/projects/opendr_ws/src && \ |
| 193 | + git clone --branch noetic https://github.com/ros-perception/vision_opencv && \ |
| 194 | + git clone --branch develop https://github.com/bosch-ros-pkg/usb_cam.git && \ |
| 195 | + cd ./usb_cam && git reset --hard 3ce8ee1 && cd ../ && \ |
| 196 | + git clone https://github.com/ros-perception/image_common.git && \ |
| 197 | + git clone https://github.com/ros-drivers/audio_common && \ |
| 198 | + sed -i 's/(Boost REQUIRED python37)/(Boost REQUIRED python3)/' ./vision_opencv/cv_bridge/CMakeLists.txt && \ |
| 199 | + cd ../ |
| 200 | + |
| 201 | +RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; cd /opendr/projects/opendr_ws; catkin_make' |
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