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eccentricOrangeeccentricOrange
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jetson tag
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‎ROS2/AMD64x86/wheelchair2_base/Dockerfile‎

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FROM ghcr.io/smart-wheelchair-rrc/humble:dev5.0.6
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FROM ghcr.io/smart-wheelchair-rrc/humble:dev5.0.7
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ARG USERNAME=container_user
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@@ -43,13 +43,13 @@ RUN sudo apt-get update \
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&& sudo rm -rf /var/lib/apt/lists/*
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#Install Miniconda
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RUN mkdir -p ~/miniconda3 && \
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wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
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bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
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rm ~/miniconda3/miniconda.sh && \
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source ~/miniconda3/bin/activate && \
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conda init --all && \
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conda config --set auto_activate_base false
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# RUN mkdir -p ~/miniconda3 && \
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# wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
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# bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
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# rm ~/miniconda3/miniconda.sh && \
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# source ~/miniconda3/bin/activate && \
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# conda init --all && \
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# conda config --set auto_activate_base false
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# Set TERM and colorful prompt in bashrc
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RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \

‎ROS2/AMD64x86/wheelchair2_base_cuda/Dockerfile‎

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FROM ghcr.io/smart-wheelchair-rrc/humble_cuda:dev5.0.6
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FROM ghcr.io/smart-wheelchair-rrc/humble_cuda:dev5.0.7
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ARG USERNAME=container_user
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‎ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile‎

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FROM ghcr.io/smart-wheelchair-rrc/humble_gazebo:dev5.0.6
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FROM ghcr.io/smart-wheelchair-rrc/humble_gazebo:dev5.0.7
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ARG USERNAME=container_user
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‎ROS2/Jetson/humble_jetson/Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -6,26 +6,31 @@ ARG USERNAME=container_user
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ARG USER_UID=1000
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ARG USER_GID=$USER_UID
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# Add the following labels
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# Add metadata labels
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LABEL org.opencontainers.image.description="Docker Development Container"
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LABEL org.opencontainers.image.title="ROS2Dev"
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LABEL org.opencontainers.image.title="RRC Humble"
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LABEL org.opencontainers.image.vendor="Tarun R"
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LABEL org.opencontainers.image.source="https://github.com/Smart-Wheelchair-RRC/DockerForDevelopment"
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LABEL maintainer="tarun.ramak@gmail.com"
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LABEL org.opencontainers.image.licenses="MIT"
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# handle default shell
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# configure bash shell
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SHELL ["/bin/bash", "-c"]
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ENV SHELL=/bin/bash
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21+
# set ROS distro env
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ENV ROS_DISTRO=$ROS_DISTRO
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# setup locales
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ENV LANG=C.UTF-8
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ENV LC_ALL=C.UTF-8
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# setup timezone
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RUN echo 'Asia/Kolkata' > /etc/timezone && \
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ln -s /usr/share/zoneinfo/Asia/Kolkata /etc/localtime && \
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apt-get update && \
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apt-get install -q -y --no-install-recommends tzdata && \
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rm -rf /var/lib/apt/lists/*
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ln -s /usr/share/zoneinfo/Asia/Kolkata /etc/localtime
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# install packages
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COPY aptPkgs.list /tmp/aptPkgs.list
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RUN apt-get update && apt-get install -q -y --no-install-recommends \
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dirmngr \
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gnupg2 \
@@ -41,43 +46,24 @@ RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure
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&& rm -f /tmp/ros2-apt-source.deb \
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&& rm -rf /var/lib/apt/lists/*
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# setup environment
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ENV LANG=C.UTF-8
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ENV LC_ALL=C.UTF-8
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# install packages
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COPY aptPkgs.list /tmp/aptPkgs.list
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RUN apt-get update && apt-get install -q -y --no-install-recommends \
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$(cat /tmp/aptPkgs.list) \
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&& rm -rf /var/lib/apt/lists/*
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# Create non root user with sudo privilege
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME
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USER $USERNAME
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ENV ROS_DISTRO=$ROS_DISTRO
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# install ros2 packages
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RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
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ros-$ROS_DISTRO-desktop \
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&& sudo rm -rf /var/lib/apt/lists/*
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# setup entrypoint
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COPY ./ros_entrypoint.sh /
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ENTRYPOINT ["/ros_entrypoint.sh"]
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# install bootstrap tools
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RUN sudo apt-get update && sudo apt-get install --no-install-recommends -y \
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build-essential \
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git \
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bash-completion \
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python3-colcon-common-extensions \
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python3-colcon-mixin \
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python3-rosdep \
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python3-vcstool \
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python3-pip \
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&& sudo rm -rf /var/lib/apt/lists/*
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# bootstrap rosdep
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RUN sudo rosdep init && \
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rosdep update --rosdistro $ROS_DISTRO

‎ROS2/Jetson/humble_jetson/aptPkgs.list‎

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at
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bash-completion
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build-essential
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cmake
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git
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gnupg
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libaprutil1
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libgl1-mesa-dev
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libglfw3-dev
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libglu1-mesa-dev
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libgtk-3-dev
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libssl-dev
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libudev-dev
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libusb-1.0-0-dev
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lsb-release
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nano
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pkg-config
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python3-colcon-common-extensions
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python3-colcon-mixin
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python3-pip
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python3-rosdep
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python3-vcstool
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sudo
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tmux
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tree
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tzdata
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v4l-utils
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vim
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wget
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xterm

‎ROS2/Jetson/wheelchair2_base_jetson/Dockerfile‎

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FROM ghcr.io/smart-wheelchair-rrc/humble_jetson:v4.7
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FROM ghcr.io/smart-wheelchair-rrc/humble_jetson:dev5.0.7
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ARG USERNAME=container_user
44

@@ -12,37 +12,16 @@ LABEL org.opencontainers.image.licenses="MIT"
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# handle default shell
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SHELL ["/bin/bash", "-c"]
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# Install Basic deps
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RUN sudo apt-get update \
17-
&& sudo apt-get -y install --no-install-recommends\
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libssl-dev \
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libusb-1.0-0-dev \
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libudev-dev \
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pkg-config \
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libgtk-3-dev \
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wget \
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cmake \
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build-essential \
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libglfw3-dev \
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libgl1-mesa-dev \
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libglu1-mesa-dev \
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at \
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v4l-utils \
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xterm \
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&& sudo apt-get autoremove -y \
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&& sudo apt-get clean -y \
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&& sudo rm -rf /var/lib/apt/lists/*
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# Build and install Realsense-SDK
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WORKDIR /home/$USERNAME
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RUN git clone --depth=1 --progress --verbose https://github.com/IntelRealSense/librealsense.git
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RUN git clone --depth=1 --progress --verbose https://github.com/IntelRealSense/librealsense.git --branch v2.56.2
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WORKDIR /home/$USERNAME/librealsense
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RUN sudo mkdir -p /etc/udev/rules.d && \
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./scripts/setup_udev_rules.sh \
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./scripts/patch-realsense-ubuntu-lts-hwe.sh
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RUN mkdir build && cd build \
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&& cmake ../ \
45-
&& sudo make uninstall && make clean && make && sudo make install
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&& sudo make uninstall -j4 && make clean && make -j4 && sudo make install -j4
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# Build and install Livox-SDK2
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WORKDIR /home/$USERNAME
@@ -51,7 +30,7 @@ RUN cd Livox-SDK2 \
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&& mkdir build \
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&& cd build \
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&& cmake .. && make -j \
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&& sudo make install
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&& sudo make install -j4
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COPY rosPkgs.list /tmp/rosPkgs.list
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RUN sudo apt-get update \
@@ -63,15 +42,14 @@ RUN sudo apt-get update \
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&& pip3 install $(cat /tmp/pythonPkgs.list) \
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&& sudo rm -rf /var/lib/apt/lists/*
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66-
RUN sudo apt-get update \
67-
&& sudo apt-get -y install --no-install-recommends\
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tmux \
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vim \
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nano \
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tree \
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&& sudo apt-get autoremove -y \
73-
&& sudo apt-get clean -y \
74-
&& sudo rm -rf /var/lib/apt/lists/*
45+
#Install Miniconda
46+
# RUN mkdir -p ~/miniconda3 && \
47+
# wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \
48+
# bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
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# rm ~/miniconda3/miniconda.sh && \
50+
# source ~/miniconda3/bin/activate && \
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# conda init --all && \
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# conda config --set auto_activate_base false
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7654
# Set TERM and colorful prompt in bashrc
7755
RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \
@@ -82,11 +60,5 @@ COPY .tmux.conf /home/$USERNAME/.tmux.conf
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# Environment variable for map folder
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ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps
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85-
#Install Miniconda
86-
RUN mkdir -p ~/miniconda3 && \
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wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh -O ~/miniconda3/miniconda.sh && \
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bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \
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rm ~/miniconda3/miniconda.sh && \
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source ~/miniconda3/bin/activate && \
91-
conda init --all && \
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conda config --set auto_activate_base false
63+
# handle default shell
64+
SHELL ["/bin/bash", "-c"]

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