Dockerfile.x86

# Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
# All rights reserved
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright 
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
# 3. Neither the name of the copyright holder nor the names of its 
#    contributors may be used to endorse or promote products derived 
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 
# CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, 
# BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 
# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
# EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

# Docker file to build on x86_64
# https://docs.nvidia.com/deeplearning/frameworks/user-guide/index.html
FROM nvcr.io/nvidia/tritonserver:23.12-py3

# disable terminal interaction for apt
ENV DEBIAN_FRONTEND=noninteractive

 # Fundamentals
RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub

# Fundamentals
RUN apt-get update && apt-get install -y \
    bash-completion \
    build-essential \
    clang-format \
    cmake \
    curl \
    git \
    gnupg2 \
    locales \
    lsb-release \
    rsync \
    software-properties-common \
    wget \
    vim \
    unzip \
    mlocate \
	libgoogle-glog-dev \
    && rm -rf /var/lib/apt/lists/*

# Python basics
RUN apt-get update && apt-get install -y \
        python3-flake8 \
        python3-opencv \
        python3-pip \
        python3-pytest-cov \
        python3-setuptools \
&& rm -rf /var/lib/apt/lists/*

# Video utilities
RUN apt-get update && apt-get install -y \
        v4l-utils \
        mesa-utils \
        libcanberra-gtk-module \
        libcanberra-gtk3-module \
&& rm -rf /var/lib/apt/lists/*

# Core dev libraries
RUN apt-get update && apt-get install -y \
        libasio-dev \
        libbullet-dev \
        libtinyxml2-dev \
        libcunit1-dev \
&& rm -rf /var/lib/apt/lists/*

# Install Git-LFS and other packages
RUN apt-get update && apt-get install -y \
    git-lfs \
    software-properties-common && \
    rm -rf /var/lib/apt/lists/*

################ INSTALL ROS ####################

ENV ROS_DISTRO foxy
# Setup ROS2 Foxy
RUN locale-gen en_US en_US.UTF-8
RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8

RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

RUN apt-get update && apt-get install -y \
    python3-colcon-common-extensions \
    python3-rosdep \
    python3-vcstool \
    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
    ros-${ROS_DISTRO}-camera-calibration-parsers \
    ros-${ROS_DISTRO}-camera-info-manager \
    ros-${ROS_DISTRO}-desktop \
    ros-${ROS_DISTRO}-launch-testing-ament-cmake \
    ros-${ROS_DISTRO}-rqt* \
    ros-${ROS_DISTRO}-turtlesim \
    ros-${ROS_DISTRO}-v4l2-camera \
    ros-${ROS_DISTRO}-vision-msgs \
    ros-${ROS_DISTRO}-pcl-conversions \
    ros-${ROS_DISTRO}-sensor-msgs-py \
    ros-${ROS_DISTRO}-stereo-image-proc \
    ros-${ROS_DISTRO}-pcl-ros \
    && rm -rf /var/lib/apt/lists/*

################ DOWNLOAD ISAAC ROS ####################

# Download and build nanosaur_isaac_ros
ENV ISAAC_ROS_WS /opt/isaac_ros_ws
# Copy wstool isaac_ros.rosinstall
COPY nanosaur_perception/rosinstall/isaac_ros.rosinstall isaac_ros.rosinstall

RUN mkdir -p ${ISAAC_ROS_WS}/src && \
    vcs import ${ISAAC_ROS_WS}/src < isaac_ros.rosinstall
# Pull LFS files
COPY nanosaur_perception/scripts/git_lfs_pull_ws.sh git_lfs_pull_ws.sh
RUN TERM=xterm bash git_lfs_pull_ws.sh ${ISAAC_ROS_WS}/src

# Install VPI packages
RUN mkdir -p /opt/install && \
    mv ${ISAAC_ROS_WS}/src/isaac_ros_common/docker/vpi/*.deb /opt/install/ && \
    dpkg -i /opt/install/vpi-lib-1.1.11-cuda11-x86_64-linux.deb; \
    dpkg -i /opt/install/vpi-dev-1.1.11-cuda11-x86_64-linux.deb; \
    updatedb;

################ INSTALL ISAAC ROS ####################

# Change workdir
WORKDIR $ISAAC_ROS_WS

# Build Isaac ROS
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build --symlink-install \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release

################ NANOSAUR PKGS ####################

# Download and build nanosaur_perception
ENV ROS_WS /opt/ros_ws
RUN mkdir -p ${ROS_WS}/src

ADD . $ROS_WS/src/nanosaur_perception

# Change workdir
WORKDIR $ROS_WS

# Build Isaac ROS
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    . $ISAAC_ROS_WS/install/setup.sh && \
    colcon build --symlink-install \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release

################ Final enviroment setup ####################

RUN mv $ROS_WS/src/nanosaur_perception/nanosaur_perception/scripts/ros_entrypoint.sh /ros_entrypoint.sh
# Restore using the default Foxy DDS middleware: FastRTPS
ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

STOPSIGNAL SIGINT
# source ros package from entrypoint
RUN sed --in-place --expression \
      '$isource "$ROS_WS/install/setup.bash"' \
      /ros_entrypoint.sh

ENTRYPOINT ["/ros_entrypoint.sh"]
# run ros package launch file
CMD ["ros2", "launch", "nanosaur_perception", "simulation.launch.py"]