Dockerfile.jetson

ARG BASE_IMAGE
FROM ${BASE_IMAGE}

ARG ROS_VERSION

# Install ROS 2
RUN apt-get update && apt-get install -q -y --no-install-recommends dirmngr gnupg2 lsb-release
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -c -s` main" > /etc/apt/sources.list.d/ros2-latest.list

RUN apt-get update && apt-get install -o DPkg::options::="--force-overwrite" -y --no-install-recommends ros-${ROS_VERSION}-ros-base ros-${ROS_VERSION}-diagnostic-updater

RUN apt-get update && apt-get install --no-install-recommends -y \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    libboost-filesystem-dev

ARG SLAMCORE_ROS_DEB
ARG SLAMCORE_DEV_DEB
ARG SLAMCORE_PANOPTIC_DEB
ARG ENTRYPOINT_FILE

COPY $SLAMCORE_DEV_DEB /slamcore-dev.deb
COPY $SLAMCORE_ROS_DEB /slamcore-ros.deb
COPY $SLAMCORE_PANOPTIC_DEB /slamcore-panoptic.deb
RUN apt-get update && apt-get install -y /slamcore-dev.deb /slamcore-ros.deb && dpkg -i --ignore-depends=nvidia-l4t-core,nvidia-l4t-cuda /slamcore-panoptic.deb

# Make sure that GPU is available and build the ML model for the target platform if necessary
RUN if ! /usr/bin/check_panoptic_segmentation; then \
      echo "Panoptic segmentation check: FAILED\nMake sure nvidia is the default docker runtime\n\n" >&2; \
      exit 1; \
    fi

RUN echo $ROS_VERSION > ~/.ros_version
COPY $ENTRYPOINT_FILE /entrypoint.sh

# Make sure that only one ROS version is installed
RUN if [ "$(/bin/ls /opt/ros/ | wc -l)" -ne "1" ]; then \
      echo "\n\nDetected multiple installed versions of ROS. Make sure that you have installed the right Slamcore debian package for the dockerfile at hand.\n\n"; \
      exit 1; \
    fi
ENTRYPOINT [ "/entrypoint.sh" ]