docker-ros-ml-images – Machine Learning-Enabled ROS Docker Images

docker-ros-ml-images provides multi-arch machine learning-enabled ROS Docker images.

Important

This repository is open-sourced and maintained by the Institute for Automotive Engineering (ika) at RWTH Aachen University.
DevOps, Containerization and Orchestration of Software-Defined Vehicles are some of many research topics within our Vehicle Intelligence & Automated Driving domain.
If you would like to learn more about how we can support your advanced driver assistance and automated driving efforts, feel free to reach out to us!
📧 opensource@ika.rwth-aachen.de

We recommend to use docker-ros-ml-images in combination with our other tools for Docker and ROS.

docker-ros automatically builds minimal container images of ROS applications
docker-run is a CLI tool for simplified interaction with Docker images

Quick Links to Available Images

Quick Start

docker run --rm rwthika/ros2-ml:humble \
  python -c 'import os; import tensorflow as tf; import torch; e="ROS_DISTRO"; print(f"Hello from ROS {os.environ[e]}, PyTorch {torch.__version__}, and TensorFlow {tf.__version__}!")'

Variations

With docker-ros-ml-images, we provide a variety of lightweight multi-arch machine learning-enabled ROS Docker images. Starting with plain ROS images, we offer successively larger ROS base images that also come with NVIDIA CUDA, NVIDIA TensorRT, NVIDIA Triton Client, PyTorch and/or TensorFlow installations. Combining the components listed in the table below, we have built more than 100 multi-arch images and make them publicly available on DockerHub. In addition to the provided images, we also publish the generic Dockerfile used to flexibly build images combining the different components.

Component	Variations
ROS Distribution	noetic, humble, iron, jazzy, rolling
ROS Components	core, base, desktop-full
ML Framework	NVIDIA CUDA, NVIDIA TensorRT, NVIDIA Triton Client, PyTorch, TensorFlow
Architecture	amd64, arm64

Note

All images are targeted at NVIDIA GPUs and therefore base off of official NVIDIA base images. The arm64 images, in particular, target NVIDIA Jetson SoCs and are based off of NVIDIA L4T base images. Ubuntu 22 images are provided with JetPack 6, Ubuntu 20 images with JetPack 5.

Note

Since robotic applications are often implemented in C++ instead of Python for performance reasons, previous releases of our images also shipped with the C++ APIs of PyTorch and TensorFlow. Installing the C++ libraries often involves cumbersome building from source, so we have decided to drop PyTorch/TensorFlow C++ support for more frequent releases. You may still find those images with ML C++ support under the 23.08 release.

Image Configuration

User Setup

Containers of the provided images start with root user by default. If the two environment variables DOCKER_UID and DOCKER_GID are passed, a new user with the corresponding UID/GID is created on the fly. Most importantly, this features allows to mount and edit files of the host user in the container without having to deal with permission issues.

docker run --rm -it -e DOCKER_UID=$(id -u) -e DOCKER_GID=$(id -g) -e DOCKER_USER=$(id -un) rwthika/ros2:latest

The password of the custom user is set to its username (dockeruser:dockeruser by default).

Available Images

ROS 2

`rwthika/ros2` (ROS 2)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core amd64
arm64 22.04.5 3.10.12 humble ros-core 3.22.1 - - - - - -

humble, humble-ros-base amd64
arm64 22.04.5 3.10.12 humble ros-base 3.22.1 - - - - - -

humble-desktop-full amd64
arm64 22.04.5 3.10.12 humble desktop-full 3.22.1 - - - - - -

iron-ros-core amd64
arm64 22.04.5 3.10.12 iron ros-core 3.22.1 - - - - - -

iron, iron-ros-base amd64
arm64 22.04.5 3.10.12 iron ros-base 3.22.1 - - - - - -

iron-desktop-full amd64
arm64 22.04.5 3.10.12 iron desktop-full 3.22.1 - - - - - -

jazzy-ros-core amd64
arm64 24.04.1 3.12.3 jazzy ros-core 3.28.3 - - - - - -

latest, jazzy, jazzy-ros-base amd64
arm64 24.04.1 3.12.3 jazzy ros-base 3.28.3 - - - - - -

jazzy-desktop-full amd64
arm64 24.04.1 3.12.3 jazzy desktop-full 3.28.3 - - - - - -

rolling-ros-core amd64
arm64 24.04.1 3.12.3 rolling ros-core 3.28.3 - - - - - -

rolling, rolling-ros-base amd64
arm64 24.04.1 3.12.3 rolling ros-base 3.28.3 - - - - - -

rolling-desktop-full amd64
arm64 24.04.1 3.12.3 rolling desktop-full 3.28.3 - - - - - -

`rwthika/ros2-cuda` (ROS 2, NVIDIA CUDA)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core amd64
arm64 22.04.3 3.10.12 humble ros-core 3.22.1 12.2.140 - - - - -

humble, humble-ros-base amd64
arm64 22.04.3 3.10.12 humble ros-base 3.22.1 12.2.140 - - - - -

humble-desktop-full amd64
arm64 22.04.3 3.10.12 humble desktop-full 3.22.1 12.2.140 - - - - -

iron-ros-core amd64
arm64 22.04.3 3.10.12 iron ros-core 3.22.1 12.2.140 - - - - -

iron, iron-ros-base amd64
arm64 22.04.3 3.10.12 iron ros-base 3.22.1 12.2.140 - - - - -

iron-desktop-full amd64
arm64 22.04.3 3.10.12 iron desktop-full 3.22.1 12.2.140 - - - - -

jazzy-ros-core amd64 24.04 3.12.3 jazzy ros-core 3.28.3 12.6.37 - - - - -

latest, jazzy, jazzy-ros-base amd64 24.04 3.12.3 jazzy ros-base 3.28.3 12.6.37 - - - - -

jazzy-desktop-full amd64
arm64 24.04
22.04.3 3.12.3
3.10.12 jazzy desktop-full
built from src 3.28.3
3.22.1 12.6.37
12.2.140 - - - - -

rolling-ros-core amd64 24.04 3.12.3 rolling ros-core 3.28.3 12.6.37 - - - - -

rolling, rolling-ros-base amd64 24.04 3.12.3 rolling ros-base 3.28.3 12.6.37 - - - - -

rolling-desktop-full amd64 24.04 3.12.3 rolling desktop-full 3.28.3 12.6.37 - - - - -

`rwthika/ros2-tensorrt` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core amd64
arm64 22.04.3 3.10.12 humble ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

humble, humble-ros-base amd64
arm64 22.04.3 3.10.12 humble ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

humble-desktop-full amd64
arm64 22.04.3 3.10.12 humble desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

iron-ros-core amd64
arm64 22.04.3 3.10.12 iron ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

iron, iron-ros-base amd64
arm64 22.04.3 3.10.12 iron ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

iron-desktop-full amd64
arm64 22.04.3 3.10.12 iron desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

jazzy-desktop-full amd64
arm64 22.04.3 3.10.12 jazzy built from src 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - -

`rwthika/ros2-triton` (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core-triton2.48.0 amd64
arm64 22.04.3 3.10.12 humble ros-core 3.22.1 12.2.140 - - 2.48.0 - -

humble, humble-ros-base-triton2.48.0 amd64
arm64 22.04.3 3.10.12 humble ros-base 3.22.1 12.2.140 - - 2.48.0 - -

humble-desktop-full-triton2.48.0 amd64
arm64 22.04.3 3.10.12 humble desktop-full 3.22.1 12.2.140 - - 2.48.0 - -

iron-ros-core-triton2.48.0 amd64
arm64 22.04.3 3.10.12 iron ros-core 3.22.1 12.2.140 - - 2.48.0 - -

iron, iron-ros-base-triton2.48.0 amd64
arm64 22.04.3 3.10.12 iron ros-base 3.22.1 12.2.140 - - 2.48.0 - -

iron-desktop-full-triton2.48.0 amd64
arm64 22.04.3 3.10.12 iron desktop-full 3.22.1 12.2.140 - - 2.48.0 - -

jazzy-ros-core-triton2.48.0 amd64 24.04 3.12.3 jazzy ros-core 3.28.3 12.6.37 - - 2.48.0 - -

latest, jazzy, jazzy-ros-base-triton2.48.0 amd64 24.04 3.12.3 jazzy ros-base 3.28.3 12.6.37 - - 2.48.0 - -

jazzy-desktop-full-triton2.48.0 amd64
arm64 24.04
22.04.3 3.12.3
3.10.12 jazzy desktop-full
built from src 3.28.3
3.22.1 12.6.37
12.2.140 - - 2.48.0 - -

rolling-ros-core-triton2.48.0 amd64 24.04 3.12.3 rolling ros-core 3.28.3 12.6.37 - - 2.48.0 - -

rolling, rolling-ros-base-triton2.48.0 amd64 24.04 3.12.3 rolling ros-base 3.28.3 12.6.37 - - 2.48.0 - -

rolling-desktop-full-triton2.48.0 amd64 24.04 3.12.3 rolling desktop-full 3.28.3 12.6.37 - - 2.48.0 - -

`rwthika/ros2-torch` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core-torch2.3.0 amd64
arm64 22.04.3 3.10.12 humble ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

humble, humble-ros-base-torch2.3.0 amd64
arm64 22.04.3 3.10.12 humble ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

humble-desktop-full-torch2.3.0 amd64
arm64 22.04.3 3.10.12 humble desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

iron-ros-core-torch2.3.0 amd64
arm64 22.04.3 3.10.12 iron ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

iron, iron-ros-base-torch2.3.0 amd64
arm64 22.04.3 3.10.12 iron ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

iron-desktop-full-torch2.3.0 amd64
arm64 22.04.3 3.10.12 iron desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

jazzy-desktop-full-torch2.3.0 amd64
arm64 22.04.3 3.10.12 jazzy built from src 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 -

`rwthika/ros2-tf` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core-tf2.16.1 amd64
arm64 22.04.3 3.10.12 humble ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

humble, humble-ros-base-tf2.16.1 amd64
arm64 22.04.3 3.10.12 humble ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

humble-desktop-full-tf2.16.1 amd64
arm64 22.04.3 3.10.12 humble desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

iron-ros-core-tf2.16.1 amd64
arm64 22.04.3 3.10.12 iron ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

iron, iron-ros-base-tf2.16.1 amd64
arm64 22.04.3 3.10.12 iron ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

iron-desktop-full-tf2.16.1 amd64
arm64 22.04.3 3.10.12 iron desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

jazzy-desktop-full-tf2.16.1 amd64
arm64 22.04.3 3.10.12 jazzy built from src 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - - 2.16.1

`rwthika/ros2-ml` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

humble-ros-core-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 humble ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

humble, humble-ros-base-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 humble ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

humble-desktop-full-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 humble desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

iron-ros-core-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 iron ros-core 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

iron, iron-ros-base-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 iron ros-base 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

iron-desktop-full-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 iron desktop-full 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

jazzy-desktop-full-tf2.16.1-torch2.3.0 amd64
arm64 22.04.3 3.10.12 jazzy built from src 3.24.0
3.22.1 12.2.128
12.2.140 8.9.5.27
8.9.4.25 8.6.1.6
8.6.2.3 - 2.3.0 2.16.1

ROS

`rwthika/ros` (ROS)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core amd64
arm64 20.04.6 3.8.10 noetic ros-core 3.16.3 - - - - - -

latest, noetic, noetic-ros-base amd64
arm64 20.04.6 3.8.10 noetic ros-base 3.16.3 - - - - - -

noetic-desktop-full amd64
arm64 20.04.6 3.8.10 noetic desktop-full 3.16.3 - - - - - -

`rwthika/ros-cuda` (ROS, NVIDIA CUDA)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core amd64
arm64 20.04.6 3.8.10 noetic ros-core 3.16.3 11.4.148
11.4.298 - - - - -

latest, noetic, noetic-ros-base amd64
arm64 20.04.6 3.8.10 noetic ros-base 3.16.3 11.4.148
11.4.298 - - - - -

noetic-desktop-full amd64
arm64 20.04.6 3.8.10 noetic desktop-full 3.16.3 11.4.148
11.4.298 - - - - -

`rwthika/ros-tensorrt` (ROS, NVIDIA CUDA, NVIDIA TensorRT)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-core 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - - -

latest, noetic, noetic-ros-base amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-base 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - - -

noetic-desktop-full amd64
arm64 20.04.2
20.04.6 3.8.10 noetic desktop-full 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - - -

`rwthika/ros-triton` (ROS, NVIDIA CUDA, NVIDIA Triton Client)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core-triton2.48.0 amd64
arm64 20.04.6 3.8.10 noetic ros-core 3.16.3 11.4.148
11.4.298 - - 2.48.0 - -

latest, noetic, noetic-ros-base-triton2.48.0 amd64
arm64 20.04.6 3.8.10 noetic ros-base 3.16.3 11.4.148
11.4.298 - - 2.48.0 - -

noetic-desktop-full-triton2.48.0 amd64
arm64 20.04.6 3.8.10 noetic desktop-full 3.16.3 11.4.148
11.4.298 - - 2.48.0 - -

`rwthika/ros-torch` (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core-torch2.1.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-core 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - 2.1.0 -

latest, noetic, noetic-ros-base-torch2.1.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-base 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - 2.1.0 -

noetic-desktop-full-torch2.1.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic desktop-full 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - 2.1.0 -

`rwthika/ros-tf` (ROS, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core-tf2.12.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-core 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - - 2.12.0

latest, noetic, noetic-ros-base-tf2.12.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-base 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - - 2.12.0

noetic-desktop-full-tf2.12.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic desktop-full 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - - 2.12.0

`rwthika/ros-ml` (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

Click to expand

Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow

noetic-ros-core-tf2.12.0-torch2.1.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-core 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - 2.1.0 2.12.0

latest, noetic, noetic-ros-base-tf2.12.0-torch2.1.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic ros-base 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - 2.1.0 2.12.0

noetic-desktop-full-tf2.12.0-torch2.1.0 amd64
arm64 20.04.2
20.04.6 3.8.10 noetic desktop-full 3.14.4
3.16.3 11.4.108
11.4.298 8.2.2.26
8.6.0.166 8.0.1
8.5.2 - 2.1.0 2.12.0

Manual Build

docker buildx build \
  --pull \
  --platform $PLATFORM \
  --build-arg BASE_IMAGE_TYPE=$BASE_IMAGE_TYPE \
  --build-arg UBUNTU_VERSION=$UBUNTU_VERSION \
  --build-arg ROS_VERSION=$ROS_VERSION \
  --build-arg ROS_DISTRO=$ROS_DISTRO \
  --build-arg ROS_PACKAGE=$ROS_PACKAGE \
  --build-arg ROS_BUILD_FROM_SRC=$ROS_BUILD_FROM_SRC \
  --build-arg TORCH_VERSION=$TORCH_VERSION \
  --build-arg TF_VERSION=$TF_VERSION \
  --build-arg TRITON_VERSION=$TRITON_VERSION \
  --tag $IMAGE .

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.gitlab-ci		.gitlab-ci
utils		utils
.gitlab-ci.yml		.gitlab-ci.yml
.version_information.sh		.version_information.sh
CITATION.cff		CITATION.cff
Dockerfile		Dockerfile
LICENSE		LICENSE
README.md		README.md
entrypoint.sh		entrypoint.sh

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docker-ros-ml-images – Machine Learning-Enabled ROS Docker Images

Quick Links to Available Images

Quick Start

Variations

Image Configuration

User Setup

Available Images

ROS 2

`rwthika/ros2` (ROS 2)

`rwthika/ros2-cuda` (ROS 2, NVIDIA CUDA)

`rwthika/ros2-tensorrt` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)

`rwthika/ros2-triton` (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)

`rwthika/ros2-torch` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

`rwthika/ros2-tf` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

`rwthika/ros2-ml` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

ROS

`rwthika/ros` (ROS)

`rwthika/ros-cuda` (ROS, NVIDIA CUDA)

`rwthika/ros-tensorrt` (ROS, NVIDIA CUDA, NVIDIA TensorRT)

`rwthika/ros-triton` (ROS, NVIDIA CUDA, NVIDIA Triton Client)

`rwthika/ros-torch` (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

`rwthika/ros-tf` (ROS, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

`rwthika/ros-ml` (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

Manual Build

About

Releases 5

Contributors 2

Languages

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`humble-ros-core`	amd64 arm64	22.04.5	3.10.12	humble	ros-core	3.22.1	-	-	-	-	-	-
`humble`, `humble-ros-base`	amd64 arm64	22.04.5	3.10.12	humble	ros-base	3.22.1	-	-	-	-	-	-
`humble-desktop-full`	amd64 arm64	22.04.5	3.10.12	humble	desktop-full	3.22.1	-	-	-	-	-	-
`iron-ros-core`	amd64 arm64	22.04.5	3.10.12	iron	ros-core	3.22.1	-	-	-	-	-	-
`iron`, `iron-ros-base`	amd64 arm64	22.04.5	3.10.12	iron	ros-base	3.22.1	-	-	-	-	-	-
`iron-desktop-full`	amd64 arm64	22.04.5	3.10.12	iron	desktop-full	3.22.1	-	-	-	-	-	-
`jazzy-ros-core`	amd64 arm64	24.04.1	3.12.3	jazzy	ros-core	3.28.3	-	-	-	-	-	-
`latest`, `jazzy`, `jazzy-ros-base`	amd64 arm64	24.04.1	3.12.3	jazzy	ros-base	3.28.3	-	-	-	-	-	-
`jazzy-desktop-full`	amd64 arm64	24.04.1	3.12.3	jazzy	desktop-full	3.28.3	-	-	-	-	-	-
`rolling-ros-core`	amd64 arm64	24.04.1	3.12.3	rolling	ros-core	3.28.3	-	-	-	-	-	-
`rolling`, `rolling-ros-base`	amd64 arm64	24.04.1	3.12.3	rolling	ros-base	3.28.3	-	-	-	-	-	-
`rolling-desktop-full`	amd64 arm64	24.04.1	3.12.3	rolling	desktop-full	3.28.3	-	-	-	-	-	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`humble-ros-core`	amd64 arm64	22.04.3	3.10.12	humble	ros-core	3.22.1	12.2.140	-	-	-	-	-
`humble`, `humble-ros-base`	amd64 arm64	22.04.3	3.10.12	humble	ros-base	3.22.1	12.2.140	-	-	-	-	-
`humble-desktop-full`	amd64 arm64	22.04.3	3.10.12	humble	desktop-full	3.22.1	12.2.140	-	-	-	-	-
`iron-ros-core`	amd64 arm64	22.04.3	3.10.12	iron	ros-core	3.22.1	12.2.140	-	-	-	-	-
`iron`, `iron-ros-base`	amd64 arm64	22.04.3	3.10.12	iron	ros-base	3.22.1	12.2.140	-	-	-	-	-
`iron-desktop-full`	amd64 arm64	22.04.3	3.10.12	iron	desktop-full	3.22.1	12.2.140	-	-	-	-	-
`jazzy-ros-core`	amd64	24.04	3.12.3	jazzy	ros-core	3.28.3	12.6.37	-	-	-	-	-
`latest`, `jazzy`, `jazzy-ros-base`	amd64	24.04	3.12.3	jazzy	ros-base	3.28.3	12.6.37	-	-	-	-	-
`jazzy-desktop-full`	amd64 arm64	24.04 22.04.3	3.12.3 3.10.12	jazzy	desktop-full built from src	3.28.3 3.22.1	12.6.37 12.2.140	-	-	-	-	-
`rolling-ros-core`	amd64	24.04	3.12.3	rolling	ros-core	3.28.3	12.6.37	-	-	-	-	-
`rolling`, `rolling-ros-base`	amd64	24.04	3.12.3	rolling	ros-base	3.28.3	12.6.37	-	-	-	-	-
`rolling-desktop-full`	amd64	24.04	3.12.3	rolling	desktop-full	3.28.3	12.6.37	-	-	-	-	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`humble-ros-core-triton2.48.0`	amd64 arm64	22.04.3	3.10.12	humble	ros-core	3.22.1	12.2.140	-	-	2.48.0	-	-
`humble`, `humble-ros-base-triton2.48.0`	amd64 arm64	22.04.3	3.10.12	humble	ros-base	3.22.1	12.2.140	-	-	2.48.0	-	-
`humble-desktop-full-triton2.48.0`	amd64 arm64	22.04.3	3.10.12	humble	desktop-full	3.22.1	12.2.140	-	-	2.48.0	-	-
`iron-ros-core-triton2.48.0`	amd64 arm64	22.04.3	3.10.12	iron	ros-core	3.22.1	12.2.140	-	-	2.48.0	-	-
`iron`, `iron-ros-base-triton2.48.0`	amd64 arm64	22.04.3	3.10.12	iron	ros-base	3.22.1	12.2.140	-	-	2.48.0	-	-
`iron-desktop-full-triton2.48.0`	amd64 arm64	22.04.3	3.10.12	iron	desktop-full	3.22.1	12.2.140	-	-	2.48.0	-	-
`jazzy-ros-core-triton2.48.0`	amd64	24.04	3.12.3	jazzy	ros-core	3.28.3	12.6.37	-	-	2.48.0	-	-
`latest`, `jazzy`, `jazzy-ros-base-triton2.48.0`	amd64	24.04	3.12.3	jazzy	ros-base	3.28.3	12.6.37	-	-	2.48.0	-	-
`jazzy-desktop-full-triton2.48.0`	amd64 arm64	24.04 22.04.3	3.12.3 3.10.12	jazzy	desktop-full built from src	3.28.3 3.22.1	12.6.37 12.2.140	-	-	2.48.0	-	-
`rolling-ros-core-triton2.48.0`	amd64	24.04	3.12.3	rolling	ros-core	3.28.3	12.6.37	-	-	2.48.0	-	-
`rolling`, `rolling-ros-base-triton2.48.0`	amd64	24.04	3.12.3	rolling	ros-base	3.28.3	12.6.37	-	-	2.48.0	-	-
`rolling-desktop-full-triton2.48.0`	amd64	24.04	3.12.3	rolling	desktop-full	3.28.3	12.6.37	-	-	2.48.0	-	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`humble-ros-core-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	humble	ros-core	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-
`humble`, `humble-ros-base-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	humble	ros-base	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-
`humble-desktop-full-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	humble	desktop-full	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-
`iron-ros-core-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	iron	ros-core	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-
`iron`, `iron-ros-base-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	iron	ros-base	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-
`iron-desktop-full-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	iron	desktop-full	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-
`jazzy-desktop-full-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	jazzy	built from src	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`humble-ros-core-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	humble	ros-core	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1
`humble`, `humble-ros-base-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	humble	ros-base	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1
`humble-desktop-full-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	humble	desktop-full	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1
`iron-ros-core-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	iron	ros-core	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1
`iron`, `iron-ros-base-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	iron	ros-base	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1
`iron-desktop-full-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	iron	desktop-full	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1
`jazzy-desktop-full-tf2.16.1`	amd64 arm64	22.04.3	3.10.12	jazzy	built from src	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	-	2.16.1

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`humble-ros-core-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	humble	ros-core	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1
`humble`, `humble-ros-base-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	humble	ros-base	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1
`humble-desktop-full-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	humble	desktop-full	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1
`iron-ros-core-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	iron	ros-core	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1
`iron`, `iron-ros-base-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	iron	ros-base	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1
`iron-desktop-full-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	iron	desktop-full	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1
`jazzy-desktop-full-tf2.16.1-torch2.3.0`	amd64 arm64	22.04.3	3.10.12	jazzy	built from src	3.24.0 3.22.1	12.2.128 12.2.140	8.9.5.27 8.9.4.25	8.6.1.6 8.6.2.3	-	2.3.0	2.16.1

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`noetic-ros-core`	amd64 arm64	20.04.6	3.8.10	noetic	ros-core	3.16.3	-	-	-	-	-	-
`latest`, `noetic`, `noetic-ros-base`	amd64 arm64	20.04.6	3.8.10	noetic	ros-base	3.16.3	-	-	-	-	-	-
`noetic-desktop-full`	amd64 arm64	20.04.6	3.8.10	noetic	desktop-full	3.16.3	-	-	-	-	-	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`noetic-ros-core`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-core	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	-	-
`latest`, `noetic`, `noetic-ros-base`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-base	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	-	-
`noetic-desktop-full`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	desktop-full	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	-	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`noetic-ros-core-triton2.48.0`	amd64 arm64	20.04.6	3.8.10	noetic	ros-core	3.16.3	11.4.148 11.4.298	-	-	2.48.0	-	-
`latest`, `noetic`, `noetic-ros-base-triton2.48.0`	amd64 arm64	20.04.6	3.8.10	noetic	ros-base	3.16.3	11.4.148 11.4.298	-	-	2.48.0	-	-
`noetic-desktop-full-triton2.48.0`	amd64 arm64	20.04.6	3.8.10	noetic	desktop-full	3.16.3	11.4.148 11.4.298	-	-	2.48.0	-	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`noetic-ros-core-torch2.1.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-core	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	2.1.0	-
`latest`, `noetic`, `noetic-ros-base-torch2.1.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-base	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	2.1.0	-
`noetic-desktop-full-torch2.1.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	desktop-full	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	2.1.0	-

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`noetic-ros-core-tf2.12.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-core	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	-	2.12.0
`latest`, `noetic`, `noetic-ros-base-tf2.12.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-base	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	-	2.12.0
`noetic-desktop-full-tf2.12.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	desktop-full	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	-	2.12.0

Tag	Arch	Ubuntu	Python	ROS	ROS Package	CMake	CUDA	cuDNN	TensorRT	Triton	PyTorch	TensorFlow
`noetic-ros-core-tf2.12.0-torch2.1.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-core	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	2.1.0	2.12.0
`latest`, `noetic`, `noetic-ros-base-tf2.12.0-torch2.1.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	ros-base	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	2.1.0	2.12.0
`noetic-desktop-full-tf2.12.0-torch2.1.0`	amd64 arm64	20.04.2 20.04.6	3.8.10	noetic	desktop-full	3.14.4 3.16.3	11.4.108 11.4.298	8.2.2.26 8.6.0.166	8.0.1 8.5.2	-	2.1.0	2.12.0

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ika-rwth-aachen/docker-ros-ml-images

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docker-ros-ml-images – Machine Learning-Enabled ROS Docker Images

Quick Links to Available Images

Quick Start

Variations

Image Configuration

User Setup

Available Images

ROS 2

rwthika/ros2 (ROS 2)

rwthika/ros2-cuda (ROS 2, NVIDIA CUDA)

rwthika/ros2-tensorrt (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)

rwthika/ros2-triton (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)

rwthika/ros2-torch (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

rwthika/ros2-tf (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

rwthika/ros2-ml (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

ROS

rwthika/ros (ROS)

rwthika/ros-cuda (ROS, NVIDIA CUDA)

rwthika/ros-tensorrt (ROS, NVIDIA CUDA, NVIDIA TensorRT)

rwthika/ros-triton (ROS, NVIDIA CUDA, NVIDIA Triton Client)

rwthika/ros-torch (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

rwthika/ros-tf (ROS, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

rwthika/ros-ml (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

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Releases 5

Contributors 2

Languages

`rwthika/ros2` (ROS 2)

`rwthika/ros2-cuda` (ROS 2, NVIDIA CUDA)

`rwthika/ros2-tensorrt` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)

`rwthika/ros2-triton` (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)

`rwthika/ros2-torch` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

`rwthika/ros2-tf` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

`rwthika/ros2-ml` (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

`rwthika/ros` (ROS)

`rwthika/ros-cuda` (ROS, NVIDIA CUDA)

`rwthika/ros-tensorrt` (ROS, NVIDIA CUDA, NVIDIA TensorRT)

`rwthika/ros-triton` (ROS, NVIDIA CUDA, NVIDIA Triton Client)

`rwthika/ros-torch` (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

`rwthika/ros-tf` (ROS, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

`rwthika/ros-ml` (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)