Dockerfile.ros.humble

#
# this dockerfile roughly follows the 'Install ROS From Source' procedures from:
#   https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html
#
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.5.0
FROM ${BASE_IMAGE}

ARG ROS_PKG=ros_base
ENV ROS_DISTRO=humble
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
ENV ROS_PYTHON_VERSION=3

ENV DEBIAN_FRONTEND=noninteractive
ENV SHELL /bin/bash
SHELL ["/bin/bash", "-c"]

WORKDIR /tmp

# change the locale from POSIX to UTF-8
RUN 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
ENV PYTHONIOENCODING=utf-8

# set Python3 as default
RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1


#
# add the ROS deb repo to the apt sources list
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
        curl \
        wget \
        gnupg2 \
        lsb-release \
        ca-certificates \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null


#
# install development packages
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
        build-essential \
        cmake \
        git \
        libbullet-dev \
        libpython3-dev \
        python3-colcon-common-extensions \
        python3-flake8 \
        python3-pip \
        python3-numpy \
        python3-pytest-cov \
        python3-rosdep \
        python3-setuptools \
        python3-vcstool \
        python3-rosinstall-generator \
        libasio-dev \
        libtinyxml2-dev \
        libcunit1-dev \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

# install some pip packages needed for testing
RUN python3 -m pip install -U \
        argcomplete \
        flake8-blind-except \
        flake8-builtins \
        flake8-class-newline \
        flake8-comprehensions \
        flake8-deprecated \
        flake8-docstrings \
        flake8-import-order \
        flake8-quotes \
        pytest-repeat \
        pytest-rerunfailures \
        pytest

#
# install OpenCV (with CUDA)
#
ARG OPENCV_URL=https://nvidia.box.com/shared/static/5v89u6g5rb62fpz4lh0rz531ajo2t5ef.gz
ARG OPENCV_DEB=OpenCV-4.5.0-aarch64.tar.gz

COPY scripts/opencv_install.sh /tmp/opencv_install.sh
RUN cd /tmp && ./opencv_install.sh ${OPENCV_URL} ${OPENCV_DEB}


#
# upgrade cmake - https://stackoverflow.com/a/56690743
# this is needed to build some of the ROS2 packages
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          software-properties-common \
          apt-transport-https \
          ca-certificates \
          gnupg \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

RUN wget -qO - https://apt.kitware.com/keys/kitware-archive-latest.asc | apt-key add - && \
    apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" && \
    apt-get update && \
    apt-get install -y --no-install-recommends --only-upgrade \
            cmake \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

RUN cmake --version


#
# remove other versions of Python3
# workaround for 'Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS Development'
#
RUN apt purge -y python3.9 libpython3.9* || echo "python3.9 not found, skipping removal" && \
    ls -ll /usr/bin/python*


#
# download/build ROS from source
#
RUN mkdir -p ${ROS_ROOT}/src && \
    cd ${ROS_ROOT} && \

    # https://answers.ros.org/question/325245/minimal-ros2-installation/?answer=325249#post-id-325249
    rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} \
        launch_xml \
        launch_yaml \
        launch_testing \
        launch_testing_ament_cmake \
        demo_nodes_cpp \
        demo_nodes_py \
        example_interfaces \
        camera_calibration_parsers \
        camera_info_manager \
        cv_bridge \
        v4l2_camera \
        vision_opencv \
        vision_msgs \
        image_geometry \
        image_pipeline \
        image_transport \
        compressed_image_transport \
        compressed_depth_image_transport \
        > ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
    cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
    vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \

    # https://github.com/dusty-nv/jetson-containers/issues/181
    rm -r ${ROS_ROOT}/src/ament_cmake && \
    git -C ${ROS_ROOT}/src/ clone https://github.com/ament/ament_cmake -b ${ROS_DISTRO} && \

    # install dependencies using rosdep
    apt-get update && \
    cd ${ROS_ROOT} && \
    rosdep init && \
    rosdep update && \
    rosdep install -y \
          --ignore-src \
       --from-paths src \
      --rosdistro ${ROS_DISTRO} \
      --skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" && \
    rm -rf /var/lib/apt/lists/* && \
    apt-get clean && \

    # build it!
    colcon build \
        --merge-install \
        --cmake-args -DCMAKE_BUILD_TYPE=Release && \

    # remove build files
    rm -rf ${ROS_ROOT}/src && \
    rm -rf ${ROS_ROOT}/logs && \
    rm -rf ${ROS_ROOT}/build && \
    rm ${ROS_ROOT}/*.rosinstall


#
# fix broken package.xml in test_pluginlib that crops up if/when rosdep is run again
#
#   Error(s) in package '/opt/ros/foxy/build/pluginlib/prefix/share/test_pluginlib/package.xml':
#   Package 'test_pluginlib' must declare at least one maintainer
#   The package node must contain at least one "license" tag
#
#RUN TEST_PLUGINLIB_PACKAGE="${ROS_ROOT}/build/pluginlib/pluginlib_enable_plugin_testing/install/test_pluginlib__test_pluginlib/share/test_pluginlib/package.xml" && \
#    sed -i '/<\/description>/a <license>BSD<\/license>' $TEST_PLUGINLIB_PACKAGE && \
#    sed -i '/<\/description>/a <maintainer email="michael@openrobotics.org">Michael Carroll<\/maintainer>' $TEST_PLUGINLIB_PACKAGE && \
#    cat $TEST_PLUGINLIB_PACKAGE


#
# Set the default DDS middleware to cyclonedds
# https://github.com/ros2/rclcpp/issues/1335
#
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp


#
# setup entrypoint
#
COPY ./packages/ros_entrypoint.sh /ros_entrypoint.sh

RUN sed -i \
    's/ros_env_setup="\/opt\/ros\/$ROS_DISTRO\/setup.bash"/ros_env_setup="${ROS_ROOT}\/install\/setup.bash"/g' \
    /ros_entrypoint.sh && \
    cat /ros_entrypoint.sh

RUN echo 'source ${ROS_ROOT}/install/setup.bash' >> /root/.bashrc

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
WORKDIR /