-
Notifications
You must be signed in to change notification settings - Fork 3
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
39f1ee0
commit b0e0eab
Showing
21 changed files
with
234 additions
and
1,057 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,16 +1,148 @@ | ||
| ARG BASE_IMAGE=ghcr.io/kumarrobotics/pytorch_base | ||
| ARG BASE_TAG=latest | ||
| ARG SETUP_ARGS="--with-cuda" | ||
|
|
||
| FROM ${BASE_IMAGE}:${BASE_TAG} | ||
| WORKDIR /app | ||
| ADD . . | ||
| RUN ["bash", "-c", "/app/setup.sh ${SETUP_ARGS}"] | ||
| RUN ${VENV_PATH}/bin/pip install coverage_control | ||
|
|
||
| RUN echo "export CoverageControl_ws=/workspace" >> /root/.bashrc | ||
| COPY utils/docker/entrypoint.sh /entrypoint.sh | ||
| RUN chmod +x /entrypoint.sh | ||
| ENTRYPOINT ["/entrypoint.sh"] | ||
|
|
||
| # RUN export SETUP_ARGS=${SETUP_ARGS} && source ${VENV_PATH}/bin/activate && bash -c "./setup.sh ${SETUP_ARGS}" | ||
| ARG IMAGE_TYPE="cpu" | ||
| ARG CUDA_VERSION="12.4.1" | ||
| ARG UBUNTU_VERSION="22.04" | ||
|
|
||
| FROM nvidia/cuda:${CUDA_VERSION}-devel-ubuntu${UBUNTU_VERSION} AS cuda | ||
| ARG PYTORCH_VERSION="2.5.1" | ||
| ENV PYTORCH_VERSION=${PYTORCH_VERSION} | ||
| COPY requirements.txt /opt/requirements.txt | ||
| RUN mkdir download; \ | ||
| wget https://download.pytorch.org/libtorch/cu124/libtorch-win-shared-with-deps-${PYTORCH_VERSION}%2Bcu124.zip -O download/libtorch.zip; \ | ||
| unzip download/libtorch.zip -d /opt/; \ | ||
| rm -r download | ||
|
|
||
| FROM ubuntu:${UBUNTU_VERSION} AS cpu | ||
| ARG PYTORCH_VERSION="2.5.1" | ||
| ENV PYTORCH_VERSION=${PYTORCH_VERSION} | ||
| COPY requirements_cpu.txt /opt/requirements.txt | ||
| RUN mkdir download; \ | ||
| wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${PYTORCH_VERSION}%2Bcpu.zip -O download/libtorch.zip; \ | ||
| unzip download/libtorch.zip -d /opt/; \ | ||
| rm -r download | ||
|
|
||
| FROM arm64v8/ubuntu:${UBUNTU_VERSION} AS arm64 | ||
| ARG PYTORCH_VERSION="2.5.1" | ||
| ENV PYTORCH_VERSION=${PYTORCH_VERSION} | ||
| COPY requirements_cpu.txt /opt/requirements.txt | ||
| RUN mkdir download; \ | ||
| wget https://github.com/AgarwalSaurav/libtorch_arm64/releases/download/v${PYTORCH_VERSION}/libtorch-cxx11-abi-shared-with-deps-${PYTORCH_VERSION}.zip -O download/libtorch.zip; \ | ||
| unzip download/libtorch.zip -d /opt/; \ | ||
| rm -r download | ||
|
|
||
| FROM ${IMAGE_TYPE} AS base | ||
| ARG PYTHON_VERSION="3.10" | ||
| LABEL maintainer="Saurav Agarwal <[email protected]>" | ||
| LABEL description="Dockerfile for PyTorch GPU and ROS2" | ||
|
|
||
| SHELL ["/bin/bash", "-c"] | ||
|
|
||
| ENV DEBIAN_FRONTEND=noninteractive | ||
| ENV PYTHON_VERSION=${PYTHON_VERSION} | ||
| ENV TERM=xterm-256color | ||
|
|
||
| RUN apt-get update && apt-get install -y apt-utils | ||
|
|
||
| RUN apt-get -y update \ | ||
| && apt-get -y upgrade \ | ||
| && apt-get -y install \ | ||
| build-essential \ | ||
| git \ | ||
| wget \ | ||
| gpg \ | ||
| curl \ | ||
| gdb \ | ||
| libbz2-dev \ | ||
| software-properties-common \ | ||
| ca-certificates \ | ||
| lsb-release \ | ||
| net-tools iputils-ping \ | ||
| locales \ | ||
| python${PYTHON_VERSION} \ | ||
| python${PYTHON_VERSION}-dev \ | ||
| python${PYTHON_VERSION}-venv \ | ||
| && apt-get -y autoremove \ | ||
| && apt-get -y clean autoclean | ||
|
|
||
| # Add repo for installing latest version of cmake | ||
| RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null; \ | ||
| echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null; \ | ||
| apt-get -y update; \ | ||
| rm /usr/share/keyrings/kitware-archive-keyring.gpg \ | ||
| && apt-get -y install kitware-archive-keyring | ||
|
|
||
| RUN apt-get -y install \ | ||
| cmake \ | ||
| libgmp-dev \ | ||
| libmpfr-dev \ | ||
| libboost-all-dev \ | ||
| libeigen3-dev \ | ||
| libgeos-dev \ | ||
| libyaml-cpp-dev \ | ||
| vim \ | ||
| neovim \ | ||
| tmux \ | ||
| ffmpeg \ | ||
| unzip \ | ||
| gnuplot-nox \ | ||
| ninja-build \ | ||
| libpng-dev \ | ||
| libjpeg-dev \ | ||
| libopencv-dev \ | ||
| python3-opencv \ | ||
| && apt-get -y autoremove \ | ||
| && apt-get -y clean autoclean \ | ||
| && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* \ | ||
| && rm -f /var/cache/apt/archives/*.deb \ | ||
| && rm -f /var/cache/apt/archives/parital/*.deb \ | ||
| && rm -f /var/cache/apt/*.bin | ||
|
|
||
| ENV LD_LIBRARY_PATH="/usr/local/lib:/opt/libtorch/lib" | ||
| ENV Torch_DIR=/opt/libtorch/share/cmake/ | ||
|
|
||
| RUN python${PYTHON_VERSION} -m venv /opt/venv \ | ||
| && /opt/venv/bin/pip install --no-cache-dir wheel \ | ||
| && /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt | ||
| ENV VENV_PATH=/opt/venv | ||
|
|
||
| COPY .bashrc /root/.bashrc | ||
|
|
||
| FROM base AS ros2 | ||
| ARG ROS_DISTRO="humble" | ||
| ENV ROS_DISTRO=${ROS_DISTRO} | ||
| RUN apt-get -y update \ | ||
| && add-apt-repository universe \ | ||
| && locale-gen en_US en_US.UTF-8 \ | ||
| && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ | ||
| && export LANG=en_US.UTF-8 \ | ||
| && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ | ||
| && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \ | ||
| && apt-get -y update \ | ||
| && apt-get install -y \ | ||
| python3-colcon-common-extensions \ | ||
| python3-vcstool \ | ||
| python3-pip \ | ||
| python3-argcomplete \ | ||
| python3-rosdep \ | ||
| python3-rosinstall-generator \ | ||
| ros-${ROS_DISTRO}-desktop \ | ||
| ros-dev-tools \ | ||
| ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ | ||
| ros-${ROS_DISTRO}-ros-gz \ | ||
| ros-${ROS_DISTRO}-ros2bag \ | ||
| ros-${ROS_DISTRO}-rosidl-generator-dds-idl \ | ||
| && apt-get -y autoremove \ | ||
| && apt-get -y clean autoclean \ | ||
| && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* \ | ||
| && rm -f /var/cache/apt/archives/*.deb \ | ||
| && rm -f /var/cache/apt/archives/parital/*.deb \ | ||
| && rm -f /var/cache/apt/*.bin | ||
|
|
||
| RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark tomli | ||
| RUN echo $'\n\ | ||
| export PYTHONPATH=/opt/venv/lib/python${PYTHON_VERSION}/site-packages:$PYTHONPATH\n\ | ||
| export ROS_PYTHON_VERSION=3\n\ | ||
| export ROS_VERSION=2\n\ | ||
| export ROS_DOMAIN_ID=10\n\ | ||
| source /opt/ros/${ROS_DISTRO}/setup.bash\n\ | ||
| source /usr/share/colcon_cd/function/colcon_cd.sh\n\ | ||
| export _colcon_cd_root=/opt/ros/${ROS_DISTRO}' >> /root/.bashrc |
This file was deleted.
Oops, something went wrong.
Oops, something went wrong.