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Dockerfile
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# docker buildx build \
# --load \
# --platform $(uname)/$(uname -m) \
# --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 $IMAGE \
# .
ARG BASE_IMAGE_TYPE
ARG UBUNTU_VERSION="22.04"
# === ubuntu base images ==========================================================================
FROM --platform=amd64 ubuntu:20.04 AS base-ubuntu20.04-amd64
FROM --platform=amd64 ubuntu:22.04 AS base-ubuntu22.04-amd64
FROM --platform=amd64 ubuntu:24.04 AS base-ubuntu24.04-amd64
FROM --platform=arm64 ubuntu:20.04 AS base-ubuntu20.04-arm64
FROM --platform=arm64 ubuntu:22.04 AS base-ubuntu22.04-arm64
FROM --platform=arm64 ubuntu:24.04 AS base-ubuntu24.04-arm64
# === cuda base images ============================================================================
FROM --platform=amd64 nvcr.io/nvidia/cuda:11.4.3-runtime-ubuntu20.04 AS base-cuda-ubuntu20.04-amd64
FROM --platform=amd64 nvcr.io/nvidia/cuda:12.2.2-runtime-ubuntu22.04 AS base-cuda-ubuntu22.04-amd64
FROM --platform=amd64 nvcr.io/nvidia/cuda:12.6.0-runtime-ubuntu24.04 AS base-cuda-ubuntu24.04-amd64
FROM --platform=arm64 nvcr.io/nvidia/l4t-cuda:11.4.19-runtime AS base-cuda-ubuntu20.04-arm64
FROM --platform=arm64 nvcr.io/nvidia/l4t-cuda:12.2.12-runtime AS base-cuda-ubuntu22.04-arm64
# no l4t-cuda image for ubuntu24 available
# === tensorrt base images ========================================================================
FROM --platform=amd64 nvcr.io/nvidia/tensorrt:21.08-py3 AS base-tensorrt-ubuntu20.04-amd64
FROM --platform=amd64 nvcr.io/nvidia/tensorrt:23.09-py3 AS base-tensorrt-ubuntu22.04-amd64
# no tensorrt image for ubuntu24 available
FROM --platform=arm64 nvcr.io/nvidia/l4t-tensorrt:r8.5.2-runtime AS base-tensorrt-ubuntu20.04-arm64
FROM --platform=arm64 nvcr.io/nvidia/l4t-tensorrt:r8.6.2-runtime AS base-tensorrt-ubuntu22.04-arm64
# no l4t-tensorrt image for ubuntu24 available
# === dependencies ================================================================================
FROM "base${BASE_IMAGE_TYPE}-ubuntu${UBUNTU_VERSION}-${TARGETARCH}" AS dependencies
ARG DEBIAN_FRONTEND=noninteractive
SHELL ["/bin/bash", "-c"]
USER root
ARG BASE_IMAGE_TYPE
ARG TARGETARCH
ARG UBUNTU_VERSION
RUN if [[ $TARGETARCH == "arm64" && $UBUNTU_VERSION == "22.04" && $BASE_IMAGE_TYPE != "" ]]; then \
# bug in base image -> replace line in /etc/apt/sources.list to use "r36.3" instead of "r36.0"
# touch: https://forums.balena.io/t/getting-linux-for-tegra-into-a-container-on-balena-os/179421/20
sed -i 's/https:\/\/repo.download.nvidia.com\/jetson\/common r36.0 main/https:\/\/repo.download.nvidia.com\/jetson\/common r36.3 main/g' /etc/apt/sources.list && \
echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >> /etc/apt/sources.list && \
mkdir -p /opt/nvidia/l4t-packages/ && \
touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall; \
elif [[ $TARGETARCH == "amd64" && $BASE_IMAGE_TYPE == "-tensorrt" ]]; then \
# add cuda apt repository for tensorrt base images
wget -q -O /tmp/cuda-keyring_1.0-1_all.deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu${UBUNTU_VERSION/./}/x86_64/cuda-keyring_1.0-1_all.deb && \
dpkg -i /tmp/cuda-keyring_1.0-1_all.deb && \
rm -rf /tmp/cuda-keyring_1.0-1_all.deb; \
fi
# install essentials via apt
RUN apt-get update && \
apt-get install -y \
bsdmainutils \
build-essential \
bash-completion \
curl \
dirmngr \
gdb \
git \
gnupg2 \
gosu \
iputils-ping \
less \
libglvnd-dev \
libssl-dev \
nano \
python-is-python3 \
python3-pip \
sed \
software-properties-common \
tzdata \
unzip \
vim \
wget \
x11-apps \
zip \
&& rm -rf /var/lib/apt/lists/*
RUN if [[ $UBUNTU_VERSION == "24.04" ]]; then python -m pip config --global set global.break-system-packages true; \
else python -m pip install --upgrade pip; fi
# enable bash completion
RUN sed -i '/^#if \[ -f \/etc\/bash_completion \]/,/^#fi/ s/^#//' ~/.bashrc
# install more essentials
RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
apt-get update && \
apt-get install git-lfs && \
rm -rf /var/lib/apt/lists/*
# === install and setup ROS =======================================================================
FROM dependencies AS ros
ARG TARGETARCH
ARG UBUNTU_VERSION
# setup keys and sources.list
ARG ROS_VERSION
ENV ROS_VERSION=${ROS_VERSION}
RUN if [[ "$ROS_VERSION" == "1" ]]; then \
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list ; \
elif [[ "$ROS_VERSION" == "2" ]]; then \
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null ; \
fi
# install ROS bootstrapping tools
RUN apt-get update && \
apt-get install -y \
python3-rosdep \
python3-vcstool \
&& rm -rf /var/lib/apt/lists/* && \
rosdep init
# install essential ROS CLI tools
RUN apt-get update && \
if [[ "$ROS_VERSION" == "1" ]]; then \
apt-get install -y \
python3-catkin-tools ; \
elif [[ "$ROS_VERSION" == "2" ]]; then \
apt-get install -y \
python3-colcon-common-extensions \
&& pip install colcon-clean ; \
fi \
&& rm -rf /var/lib/apt/lists/*
# install ROS
ARG ROS_DISTRO
ENV ROS_DISTRO=${ROS_DISTRO}
ARG ROS_PACKAGE=ros-core
ARG ROS_BUILD_FROM_SRC=false
RUN if [[ "$ROS_BUILD_FROM_SRC" == "true" ]]; then \
apt-get update && \
apt-get install -y \
python3-flake8-blind-except \
python3-flake8-class-newline \
python3-flake8-deprecated \
python3-mypy \
python3-pip \
python3-pytest \
python3-pytest-cov \
python3-pytest-mock \
python3-pytest-repeat \
python3-pytest-rerunfailures \
python3-pytest-runner \
python3-pytest-timeout \
ros-dev-tools && \
if [[ "$TARGETARCH" == "arm64" && "$UBUNTU_VERSION" == "22.04" && "$BASE_IMAGE_TYPE" != "" ]]; then \
apt-get install -y libopencv; \
fi && \
mkdir -p /ros${ROS_VERSION}_${ROS_DISTRO}/src && \
cd /ros${ROS_VERSION}_${ROS_DISTRO} && \
vcs import --input https://raw.githubusercontent.com/ros${ROS_VERSION}/ros${ROS_VERSION}/${ROS_DISTRO}/ros${ROS_VERSION}.repos src && \
rosdep update --rosdistro ${ROS_DISTRO} && \
rosdep install -y --ignore-src --from-paths src --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" && \
mkdir -p /opt/ros/${ROS_DISTRO} && \
colcon build --parallel-workers 32 --install-base /opt/ros/${ROS_DISTRO} --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
cd - && \
rm -rf /ros${ROS_VERSION}_${ROS_DISTRO} && \
rm -rf /var/lib/apt/lists/*; \
else \
apt-get update && \
if [[ "$TARGETARCH" == "arm64" && "$UBUNTU_VERSION" == "20.04" ]]; then \
apt-get upgrade -y && \
apt-get purge -y '*opencv*' ; \
fi && \
apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-${ROS_PACKAGE} && \
rm -rf /var/lib/apt/lists/*; \
fi
# source ROS
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
# === install ML frameworks on tensorrt base ======================================================
FROM ros AS ros-tensorrt
ARG TARGETARCH
ARG UBUNTU_VERSION
# install PyTorch
ARG TORCH_VERSION
RUN if [[ -n $TORCH_VERSION ]]; then \
if [[ "$TARGETARCH" == "amd64" ]]; then \
pip3 install torch==${TORCH_VERSION} && \
if [[ "$TORCH_VERSION" == "2.3.0" ]]; then pip3 install torchvision==0.18.0; fi; \
elif [[ "$TARGETARCH" == "arm64" ]]; then \
# from: https://forums.developer.nvidia.com/t/pytorch-for-jetson/72048
# and: https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html#prereqs-install
apt-get update && \
apt-get install -y libopenblas-base libopenmpi-dev libomp-dev && \
rm -rf /var/lib/apt/lists/* ; \
if [[ $UBUNTU_VERSION == "20.04" ]]; then \
pip install --no-cache https://developer.download.nvidia.com/compute/redist/jp/v512/pytorch/torch-${TORCH_VERSION}a0+41361538.nv23.06-cp38-cp38-linux_aarch64.whl; \
else \
apt-get update && \
apt-get install -y cuda-cupti-12-2 && \
rm -rf /var/lib/apt/lists/* && \
wget -q -O /tmp/torch-${TORCH_VERSION}-cp310-cp310-linux_aarch64.whl https://nvidia.box.com/shared/static/mp164asf3sceb570wvjsrezk1p4ftj8t.whl && \
wget -q -O /tmp/torchvision-0.18.0a0+6043bc2-cp310-cp310-linux_aarch64.whl https://nvidia.box.com/shared/static/xpr06qe6ql3l6rj22cu3c45tz1wzi36p.whl && \
pip install --no-cache /tmp/torch*.whl && \
rm -f /tmp/torch*.whl; \
fi; \
fi; \
fi
# install TensorFlow
ARG TF_VERSION
RUN if [[ -n $TF_VERSION ]]; then \
if [[ "$TARGETARCH" == "amd64" ]]; then \
pip3 install tensorflow==${TF_VERSION}; \
elif [[ "$TARGETARCH" == "arm64" ]]; then \
apt-get update && \
apt-get install -y libhdf5-dev && \
rm -rf /var/lib/apt/lists/* && \
if [[ $UBUNTU_VERSION == "20.04" ]]; then \
pip3 install h5py==3.7.0 && \
pip3 install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v512 tensorflow==${TF_VERSION}+nv23.06; \
else \
pip3 install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v60 tensorflow==${TF_VERSION}+nv24.07; \
fi; \
fi; \
fi
# === install tritonclient on cuda base ===========================================================
FROM ros AS ros-cuda
ARG TARGETARCH
# install triton client
ARG TRITON_VERSION
ENV TRITON_VERSION=${TRITON_VERSION}
RUN if [[ -n $TRITON_VERSION ]]; then \
if [[ "$TARGETARCH" == "amd64" ]]; then \
wget -q -O /tmp/tritonclient.tar.gz https://github.com/triton-inference-server/server/releases/download/v${TRITON_VERSION}/v${TRITON_VERSION}_ubuntu2204.clients.tar.gz; \
elif [[ "$TARGETARCH" == "arm64" ]]; then \
wget -q -O /tmp/tritonclient.tar.gz https://github.com/triton-inference-server/server/releases/download/v${TRITON_VERSION}/tritonserver${TRITON_VERSION}-igpu.tar.gz; \
fi && \
mkdir -p /opt/tritonclient && \
tar -xzf /tmp/tritonclient.tar.gz -C /opt/tritonclient && \
rm /tmp/tritonclient.tar.gz ; \
fi
# === final ====================================================================
FROM "ros${BASE_IMAGE_TYPE}" AS final
# user setup
ENV DOCKER_USER=dockeruser
ENV DOCKER_UID=
ENV DOCKER_GID=
# print version information during login
RUN echo "source /.version_information.sh" >> ~/.bashrc
COPY .version_information.sh /.version_information.sh
# container startup setup
ENV WORKSPACE=/docker-ros/ws
WORKDIR $WORKSPACE
ENV TINI_VERSION=v0.19.0
ARG TARGETARCH
ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini-${TARGETARCH} /tini
RUN chmod +x /tini
COPY entrypoint.sh /
ENTRYPOINT ["/tini", "--", "/entrypoint.sh"]
CMD ["bash"]