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Commit bb41ea75 authored by Francesco Tonini's avatar Francesco Tonini
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Add Dockerfile for Jetson

parent f982a3ba
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1 merge request!4Update submodules and add timestamp
# syntax=docker/dockerfile:1
FROM ros:noetic-pytorch-l4t-r32.4.3 AS builder
SHELL ["/bin/bash", "-c"]
WORKDIR /
# Install CUDA 10.2 and CuDNN8
RUN apt-get update && apt-get install -y --no-install-recommends gnupg2 ca-certificates && \
wget https://gitlab.com/nvidia/container-images/l4t-base/-/raw/master/jetson-ota-public.key && \
apt-key add jetson-ota-public.key
RUN echo "deb https://repo.download.nvidia.com/jetson/common r32.4 main" >> /etc/apt/sources.list
RUN echo "deb https://repo.download.nvidia.com/jetson/t186 r32.4 main" >> /etc/apt/sources.list
RUN apt-get update && apt-get install -y --no-install-recommends \
cuda-libraries-10-2 \
cuda-nvtx-10-2 \
cuda-libraries-dev-10-2 \
cuda-minimal-build-10-2 \
cuda-license-10-2 \
cuda-command-line-tools-10-2 \
libcudnn8-dev
ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs
RUN echo "Installing pytorch and torchvision..." && \
apt-get update && \
wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl -O torch-1.8.0-cp36-cp36m-linux_aarch64.whl && \
pip3 install torch-1.8.0-cp36-cp36m-linux_aarch64.whl && \
git clone --branch v0.9.0 https://github.com/pytorch/vision torchvision && \
cd torchvision && \
BUILD_VERSION=0.9.0 python3 setup.py install --user
FROM builder AS requirements
SHELL ["/bin/bash", "-c"]
RUN echo "Installing required packages..." && \
apt-get update --fix-missing && \
apt-get install -y --no-install-recommends git
RUN git clone https://github.com/eric-wieser/ros_numpy.git && \
cd ros_numpy/ && \
python setup.py install
RUN echo "Installing hri_msgs from source..." && \
. /opt/ros/noetic/setup.bash && \
mkdir -p /home/spring_ws/src && \
cd /home/spring_ws/src && \
git clone https://github.com/ros4hri/hri_msgs.git && \
cd hri_msgs && \
# https://github.com/ros4hri/hri_msgs/tree/e38e187010e16ed4328c3135e8c9e83e3f10dd96
git checkout e38e187010e16ed4328c3135e8c9e83e3f10dd96 && \
mkdir build && \
cd build && \
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic .. && \
make && \
make install
FROM requirements AS compiler
SHELL ["/bin/bash", "-c"]
COPY ./entrypoint.sh ./entrypoint.sh
COPY ./ /home/spring_ws/src/soft-biometrics-estimation
RUN echo "Compiling packages..." && \
chmod +x ./entrypoint.sh && \
. /opt/ros/noetic/setup.bash && cd /home/spring_ws && catkin_make && \
echo "source /home/spring_ws/devel/setup.bash" >> ~/.bashrc
EXPOSE 11311
ENTRYPOINT ["/entrypoint.sh"]
CMD ["run"]
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