Dockerfile-embedded

#
# This dockerfile roughly follows the 'Installing from source' ROS instructions from:
#   http://wiki.ros.org/noetic/Installation/Source
#
ARG BASE_IMAGE=nvcr.io/nvidia/l4t-base:r32.6.1
FROM ${BASE_IMAGE}
ARG device=nx

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

ENV DEBIAN_FRONTEND=noninteractive

ENV CUDA_HOME="/usr/local/cuda"
ENV PATH="/usr/local/cuda/bin:${PATH}"
ENV LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}"

WORKDIR /workspace

#
# OpenCV - https://github.com/mdegans/nano_build_opencv/blob/master/build_opencv.sh
#
ARG OPENCV_VERSION="4.4.0"

# install build dependencies
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
            build-essential \
            gfortran \
            cmake \
            git \
            file \
            tar \
            libatlas-base-dev \
            libavcodec-dev \
            libavformat-dev \
            libavresample-dev \
            libcanberra-gtk3-module \
            libdc1394-22-dev \
            libeigen3-dev \
            libglew-dev \
            libgstreamer-plugins-base1.0-dev \
            libgstreamer-plugins-good1.0-dev \
            libgstreamer1.0-dev \
            libgtk-3-dev \
            libjpeg-dev \
            libjpeg8-dev \
            libjpeg-turbo8-dev \
            liblapack-dev \
            liblapacke-dev \
            libopenblas-dev \
            libpng-dev \
            libpostproc-dev \
            libswscale-dev \
            libtbb-dev \
            libtbb2 \
            libtesseract-dev \
            libtiff-dev \
            libv4l-dev \
            libxine2-dev \
            libxvidcore-dev \
            libx264-dev \
            libgtkglext1 \
            libgtkglext1-dev \
            pkg-config \
            qv4l2 \
            v4l-utils \
            zlib1g-dev

RUN apt-get install ca-certificates -y

# OpenCV looks for the cuDNN version in cudnn_version.h, but it's been renamed to cudnn_version_v8.h
RUN ln -s /usr/include/$(uname -i)-linux-gnu/cudnn_version_v8.h /usr/include/$(uname -i)-linux-gnu/cudnn_version.h

# Architecture-specific build options
ARG CUDA_ARCH_BIN=""
ARG ENABLE_NEON="OFF"

# Clone and configure OpenCV repo
RUN git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv.git && \
    git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv_contrib.git && \
    cd opencv && \
    mkdir build && \
    cd build && \
    echo "configuring OpenCV ${OPENCV_VERSION}, CUDA_ARCH_BIN=${CUDA_ARCH_BIN}, ENABLE_NEON=${ENABLE_NEON}" && \
    cmake \
    -D CPACK_BINARY_DEB=ON \
    -D BUILD_EXAMPLES=OFF \
    -D BUILD_opencv_python2=OFF \
    -D BUILD_opencv_python3=ON \
    -D BUILD_opencv_java=OFF \
    -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D CUDA_ARCH_BIN=${CUDA_ARCH_BIN} \
    -D CUDA_ARCH_PTX= \
    -D CUDA_FAST_MATH=ON \
    -D CUDNN_INCLUDE_DIR=/usr/include/$(uname -i)-linux-gnu \
    -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
    -D WITH_EIGEN=ON \
    -D ENABLE_NEON=${ENABLE_NEON} \
    -D OPENCV_DNN_CUDA=ON \
    -D OPENCV_ENABLE_NONFREE=ON \
    -D OPENCV_EXTRA_MODULES_PATH=/workspace/opencv_contrib/modules \
    -D OPENCV_GENERATE_PKGCONFIG=ON \
    -D WITH_CUBLAS=ON \
    -D WITH_CUDA=ON \
    -D WITH_CUDNN=ON \
    -D WITH_GSTREAMER=ON \
    -D WITH_LIBV4L=ON \
    -D WITH_OPENGL=ON \
    -D WITH_OPENCL=OFF \
    -D WITH_IPP=OFF \
    -D WITH_TBB=ON \
    -D BUILD_TIFF=ON \
    -D BUILD_PERF_TESTS=OFF \
    -D BUILD_TESTS=OFF \
    ../

RUN cd opencv/build && make -j$(nproc)
RUN cd opencv/build && make install
RUN cd opencv/build && make package

RUN cd opencv/build && tar -czvf OpenCV-${OPENCV_VERSION}-$(uname -i).tar.gz *.deb

RUN apt-get update -y
RUN apt-get install software-properties-common -y && \
    apt-get update

# Add the ROS deb repo to the apt sources list

RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    git \
    cmake \
    build-essential \
    curl \
    wget \
    gnupg2 \
    lsb-release \
    ca-certificates \
    && rm -rf /var/lib/apt/lists/*

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -

#
# Install bootstrap dependencies
#
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    libpython3-dev \
    python3-rosdep \
    python3-rosinstall-generator \
    python3-vcstool \
    libyaml-cpp-dev \
    build-essential && \
    rosdep init && \
    rosdep update && \
    rm -rf /var/lib/apt/lists/*

#
# Download/build the ROS source
#
RUN mkdir ros_catkin_ws && \
    cd ros_catkin_ws && \
    # try below for ros-noetic-vision-msgs ros-noetic-geometry-msgs ros-noetic-sensor-msgs ros-noetic-audio-common-msgs \
    rosinstall_generator ${ROS_PKG} audio_common_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
    rosinstall_generator ${ROS_PKG} sensor_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
    rosinstall_generator ${ROS_PKG} geometry_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
    rosinstall_generator ${ROS_PKG} vision_msgs --rosdistro ${ROS_DISTRO} --deps --tar > ${ROS_DISTRO}-${ROS_PKG}.rosinstall && \
    mkdir src && \
    cd src && \
    git clone https://github.com/ros/resource_retriever && \
    cd ../ && \
    vcs import --input ${ROS_DISTRO}-${ROS_PKG}.rosinstall ./src && \
    apt-get update && \
    apt-get install -y gir1.2-gstreamer-1.0 && \
    rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro ${ROS_DISTRO} --skip-keys python3-pykdl -y && \
    python3 ./src/catkin/bin/catkin_make_isolated --install --install-space ${ROS_ROOT} -DCMAKE_BUILD_TYPE=Release && \
    rm -rf /var/lib/apt/lists/*


RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /root/.bashrc
CMD ["bash"]
WORKDIR /

RUN git clone --depth 1 --recurse-submodules -j8 --branch master https://github.com/opendr-eu/opendr
RUN apt-get update
RUN cd ./opendr && ./bin/install_nvidia.sh $device
RUN cd ./opendr/projects/opendr_ws/src && \
    git clone --branch noetic https://github.com/ros-perception/vision_opencv && \
    git clone --branch develop https://github.com/bosch-ros-pkg/usb_cam.git && \
    cd ./usb_cam && git reset --hard 3ce8ee1 && cd ../ && \
    git clone https://github.com/ros-perception/image_common.git && \
    git clone https://github.com/ros-drivers/audio_common && \
    sed -i 's/(Boost REQUIRED python37)/(Boost REQUIRED python3)/' ./vision_opencv/cv_bridge/CMakeLists.txt && \
    cd ../

RUN /bin/bash -c '. /opt/ros/noetic/setup.bash; cd /opendr/projects/opendr_ws; catkin_make'