Dockerized-NorLab

^{NorLab TeamCity GUI (VPN/intranet access)   •   norlabulaval (Docker Hub)   Jetson-Containers   •}  

Containerized development workflow for NorLab perception or control projects
leveraging docker and nvidia-docker technology.

_{Maintainer Luc Coupal}

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Features

• CUDA support via nvidia-docker
• Multi architectures: l4t/arm64, linux/amd64
• Multi OS versions:
  • Jetpack: r35.2.1, r35.4.1, r36.2.8 ...
  • Ubuntu: focal, jammy
• Multi ros2 distros: foxy, humble ...
• Multi ros2 packages: core, base, desktop
• Multi packages (non-exhaustive list):
  • Numerical computing: numpy, numba, pycuda, tensorrt
  • Deep-learning: pytorch, torch2trt, tensordict
  • Vision: opencv, torchvision
  • NorLab perception stack: libpointmatcher[-ros], norlab-icp-mapper[-ros]
  • NorLab control stack: (in progress)
  • MLOps: ray, omegaconf, hydra-core, wandb
  • Deep-rl: stable-baseline3
  • Simulation: gym, f1tenth-gym

Why

1. custom dependency management;
2. development environment consistency;
3. codebase stabilization trough continuous integration pipeline;
4. easy deployment to robots compute box;
5. results reproducibility.

Recommanded reading by Tobit Flatscher

• Why should I use Docker when developing robotics software?
• Why is Docker important in particular for academic and research institutions?

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Basic usage

Note: Dockerized-Norlab images are intended to be used as base images for Dockerized-NorLab-Project

1. Pick an images that fit your project, the most basic one is dockerized-norlab-dependencies-full

2. Pick the tag that fit your needs, e.g. DN-bleeding-foxy-base-l4t-pytorch-r35.4.1
   Notes: bleeding is for the DN dev branch, foxy is the ros version, base is the ROS package type, l4t-pytorch is the Jetson container pkg, r35.4.1 is the Jetpack version

3. Pull the image from Dockerhub

   docker pull norlabulaval/dockerized-norlab-dependencies-full:DN-bleeding-foxy-base-l4t-pytorch-r35.4.1

4. Pull the image from Dockerhub

    docker run -it --rm \
        --env ROS_DOMAIN_ID=1 --env DISPLAY="${DISPLAY}" --env QT_X11_NO_MITSHM=1 \
        --net host -p 2222:2222 -p 6006:6006 -p 7777:7777 \
        --privileged \
        -v /etc/localtime:/etc/localtime:ro -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v /tmp/.docker.xauth:/tmp/.docker.xauth:rw \
        norlabulaval/dockerized-norlab-dependencies-full:DN-bleeding-foxy-base-l4t-pytorch-r35.4.1

   Note:

   • Add the --runtime nvidia flag if you have nvidia gpu and nvidia-docker is installed.
   • For MacOs user, replace the line --net host -p 2222:2222 -p 6006:6006 -p 7777:7777 with --net bridge.

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Available images

Notes:

• All images also have a tag pinned for each release version, starting from release v0.5.2, e.g. DN-v0.5.2-foxy-ros-core-l4t-r35.2.1.
• Bleeding tags are build from the latest dev branch version (e.g. DN-bleeding-foxy-base-l4t-pytorch-r35.4.1) and are rebuild each week.
• All images are multi-architecture build (amr64 and amd64).
• Most have CUDA support via nvidia-docker base image, both for L4T (aka Jetson OS) and ubuntu.

Dockerized-Norlab Perception

dockerized-norlab-perception-stack

dockerized-norlab-perception-libpointmatcher

dockerized-norlab-perception-icp-mapper

Dockerized-Norlab Control

dockerized-norlab-control-deep-rl-f1tenth (alias dockerized-norlab-control-deep-rl-f1tenth-gym )

dockerized-norlab-control-deep-rl-openai-gym

dockerized-norlab-control-deep-rl

dockerized-norlab-control-deep-learning

Dockerized-Norlab Dependencies

dockerized-norlab-dependencies-full (alias dockerized-norlab-dependencies-ros2-custom )

dockerized-norlab-dependencies-python-science-stack

dockerized-norlab-dependencies-prompt

dockerized-norlab-dependencies-core

Dockerized-VAUL Dependencies

dockerized-vaul-dependencies-full (alias dockerized-vaul-dependencies-ros2-custom )

dockerized-vaul-dependencies-python-science-stack

dockerized-vaul-dependencies-prompt

dockerized-vaul-dependencies-core

Base images

dockerized-norlab-base-image-ros2-clean

dockerized-vaul-base-image-ros2-clean

dockerized-norlab-base-image

Build matrix summary › [ Services ... ] x [ build tag ... ]

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For developer and maintainer

Clone repository

 git clone --recurse-submodule https://github.com/norlab-ulaval/dockerized-norlab.git

Usage example

Assuming a docker builder with multi-architecture docker-container driver named local-builder-multiarch-virtual execute the following in repository root

export BUILDX_BUILDER=local-builder-multiarch-virtual \
  && export NBS_OVERRIDE_BUILD_MATRIX_MAIN=".env.build_matrix.main" \
  && export NBS_OVERRIDE_ADD_DOCKER_CMD_AND_FLAG="build --push" \
  && source dockerized-norlab-scripts/build_script/dn_build_all.bash

Note: To create a multi-architecture docker builder with architecture virtualization

docker buildx create \
    --name local-builder-multiarch-virtual \
    --driver docker-container \
    --node local \
    --platform linux/amd64,linux/arm64 \
    --bootstrap \
    --use