Skip to content

Ubuntu 24 and ROS2 Jazzy Docker Images #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Ubuntu 24 and ROS2 Jazzy Docker Images #8

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
70 changes: 39 additions & 31 deletions scripts/docker/Dockerfile.aircraft
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
FROM nvcr.io/nvidia/cuda:12.8.1-cudnn-runtime-ubuntu22.04 AS base_amd64
FROM nvcr.io/nvidia/cuda:12.8.1-cudnn-runtime-ubuntu24.04 AS base_amd64
FROM nvcr.io/nvidia/l4t-jetpack:r36.4.0 AS base_arm64
################################################################################
# Stage 1 - 8GB ################################################################
Expand All @@ -18,8 +18,8 @@ RUN apt update \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*

# Install ROS2 Humble
# Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
# Install ROS2 Jazzy
# Based on https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
RUN apt update \
&& apt install -y --no-install-recommends \
locales \
Expand All @@ -38,12 +38,12 @@ RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/r
$(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN apt update \
&& apt install -y --no-install-recommends \
ros-humble-desktop ros-dev-tools \
ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
ros-humble-vision-msgs \
ros-jazzy-desktop ros-dev-tools \
ros-jazzy-bondcpp ros-jazzy-ament-cmake-clang-format \
ros-jazzy-vision-msgs \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc
RUN rosdep init

################################################################################
Expand All @@ -55,9 +55,9 @@ FROM ros2-image AS ros2-px4msgs-image
COPY /github_clones/px4_msgs /ros2_ws_github/src/px4_msgs
WORKDIR /ros2_ws_github
RUN rosdep update
RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
RUN rosdep install --from-paths src --ignore-src --rosdistro jazzy -y
# Explicitly use bash, not sh, to source and build the workspace
RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
RUN bash -c "source /opt/ros/jazzy/setup.bash && colcon build --symlink-install"

################################################################################
# Stage 3 - 8.5GB ##############################################################
Expand All @@ -81,11 +81,13 @@ RUN mkdir build && cd build && \
FROM ros2-px4msgs-dds-image AS ros2-px4msgs-dds-mavros-image

# MAVROS
RUN apt-get update && \
apt-get install -y ros-humble-mavros ros-humble-mavros-extras ros-humble-mavros-msgs \
RUN apt-get update --allow-releaseinfo-change || (sleep 30 && apt-get update --allow-releaseinfo-change) && \
apt-get install -y ros-jazzy-mavros ros-jazzy-mavros-extras ros-jazzy-mavros-msgs \
libgeographiclib-dev \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh

RUN /opt/ros/jazzy/lib/mavros/install_geographiclib_datasets.sh
# Run with $ ros2 launch mavros apm.launch fcu_url:=[URI]

################################################################################
Expand All @@ -97,7 +99,7 @@ FROM ros2-px4msgs-dds-mavros-image AS ros2-px4msgs-dds-mavros-yolo-image
# See https://github.com/ultralytics/ultralytics/blob/main/README.md and https://onnxruntime.ai/getting-started
RUN python3 -m venv /yolo-env
RUN /yolo-env/bin/pip3 install --no-cache-dir --upgrade pip && \
/yolo-env/bin/pip3 install --no-cache-dir --resume-retries 5 ultralytics onnx
/yolo-env/bin/pip3 install --no-cache-dir ultralytics onnx
# Check YOLO with $ /yolo-env/bin/python3 -c "import ultralytics; print(ultralytics.__version__)"

# Save the model weights (ONNX, Opset 12), class names, and download a sample video for testing
Expand All @@ -117,8 +119,7 @@ RUN apt update \
&& rm -rf /var/lib/apt/lists/*

# NOTE: we want system Python's OpenCV to have GStreamer support
RUN pip3 install --no-cache-dir --upgrade pip \
&& pip3 install --no-cache-dir --resume-retries 5 "numpy<2"
RUN pip3 install --no-cache-dir "numpy<2" --break-system-packages
# Check with $ python3 -c "import cv2; print(cv2.getBuildInformation())"
# Versus $ /yolo-env/bin/python3 -c "import cv2; print(cv2.getBuildInformation())"

Expand All @@ -127,8 +128,7 @@ RUN pip3 install --no-cache-dir --upgrade pip \
################################################################################
FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-onnxruntime-gpu_amd64
# Add ONNX Runtime with GPU (CUDA) support for system Python
RUN pip3 install --no-cache-dir --upgrade pip && \
pip3 install --no-cache-dir --resume-retries 5 onnxruntime-gpu
RUN pip3 install --no-cache-dir onnxruntime-gpu --break-system-packages
# Check with $ python3 -c "import onnxruntime as ort; print(ort.__version__); print(ort.get_available_providers())"

FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-onnxruntime-gpu_arm64
Expand All @@ -142,7 +142,7 @@ RUN apt update && \
apt install -y --no-install-recommends \
build-essential software-properties-common libopenblas-dev \
libpython3.10-dev python3-pip python3-dev python3-setuptools python3-wheel && \
pip3 install --no-cache-dir --upgrade "cmake>=3.28" && \
pip3 install --no-cache-dir --upgrade "cmake>=3.28" --break-system-packages && \
cd /git/onnxruntime/ && \
CUDACXX="/usr/local/cuda/bin/nvcc" ./build.sh --config Release --update --build --parallel --build_wheel \
--use_tensorrt --cuda_home /usr/local/cuda --cudnn_home /usr/lib/aarch64-linux-gnu \
Expand All @@ -153,7 +153,7 @@ RUN apt update && \
'CMAKE_POLICY_VERSION_MINIMUM=3.5' \
--allow_running_as_root && \
cd /git/onnxruntime/build/Linux/Release/dist && \
pip3 install onnxruntime_gpu-1.22.1-cp310-cp310-linux_aarch64.whl && \
pip3 install onnxruntime_gpu-1.22.1-cp310-cp310-linux_aarch64.whl --break-system-packages && \
cd /git/onnxruntime/build/Linux/Release && \
sudo make install && \
sudo ldconfig && \
Expand All @@ -168,20 +168,19 @@ ENV PYTHONPATH=/git/onnxruntime/build/Linux/Release
FROM image-with-onnxruntime-gpu_${TARGETARCH} AS ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-image

# Install KISS-ICP
RUN pip3 install --no-cache-dir --upgrade "cmake>=3.24"
RUN pip3 install --no-cache-dir --upgrade "cmake>=3.24" --break-system-packages
COPY /github_clones/kiss-icp /ros2_ws_github/src/kiss-icp
WORKDIR /ros2_ws_github
# Explicitly use bash, not sh, to source and build the workspace
RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
RUN bash -c "source /opt/ros/jazzy/setup.bash && colcon build --symlink-install"

# Add pymavlink for debugging and testing
RUN pip3 install --no-cache-dir --upgrade pip \
&& pip3 install --no-cache-dir --resume-retries 5 pymavlink
RUN pip3 install --no-cache-dir pymavlink --break-system-packages
# Check with $ python3 -c "import pymavlink; print(pymavlink.__version__)"

# Install Zenoh
RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
RUN apt-get update && \
RUN apt-get update --allow-releaseinfo-change || (sleep 30 && apt-get update --allow-releaseinfo-change) && \
apt-get install -y zenoh-bridge-ros2dds \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
Expand All @@ -192,9 +191,13 @@ RUN apt-get update && \
FROM ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-image AS aircraft-dev-image

# Install PlotJuggler
RUN apt-get update && \
apt-get install -y ros-humble-plotjuggler \
ros-humble-plotjuggler-ros \
RUN apt-get update --allow-releaseinfo-change || (sleep 30 && apt-get update --allow-releaseinfo-change) && \
apt-get install -y ros-jazzy-plotjuggler \
ros-jazzy-plotjuggler-ros \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*

RUN apt-get install -y geographiclib-tools libgeographiclib-dev \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*

Expand All @@ -203,19 +206,24 @@ COPY simulation/simulation_ws/src/ground_system_msgs /ros2_ws/src/ground_system_
COPY aircraft/aircraft_ws/src /ros2_ws/src
WORKDIR /ros2_ws
RUN rosdep update
RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y --skip-keys "px4_msgs"
RUN rosdep install --from-paths src/ --ignore-src --rosdistro jazzy -y --skip-keys "px4_msgs"

#temp hack since it seens libgeographic is now libgeographiclib
RUN ln -s /usr/lib/x86_64-linux-gnu/libGeographicLib.so /usr/lib/x86_64-linux-gnu/libGeographic.so
RUN ldconfig

# Explicitly use bash, not sh, to source and build the workspace
RUN bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws_github/install/setup.bash && colcon build --symlink-install"
RUN bash -c "source /opt/ros/jazzy/setup.bash && source /ros2_ws_github/install/setup.bash && colcon build --symlink-install"

# Copy resources and configuration files from this repository
COPY aircraft/aircraft_resources/ /aircraft_resources
COPY aircraft/aircraft_resources/patches/kiss_icp.rviz /ros2_ws_github/src/kiss-icp/ros/rviz/kiss_icp.rviz
COPY aircraft/aircraft_resources/patches/apm_pluginlists.yaml /opt/ros/humble/share/mavros/launch/apm_pluginlists.yaml
COPY aircraft/aircraft_resources/patches/apm_pluginlists.yaml /opt/ros/jazzy/share/mavros/launch/apm_pluginlists.yaml

# Source the workspaces
RUN echo "source /ros2_ws_github/install/setup.bash" >> /root/.bashrc
RUN echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc
# If needed (but already in .bashrc) $ source /opt/ros/humble/setup.bash && source /ros2_ws_github/install/setup.bash && source /ros2_ws/install/setup.bash
# If needed (but already in .bashrc) $ source /opt/ros/jazzy/setup.bash && source /ros2_ws_github/install/setup.bash && source /ros2_ws/install/setup.bash

# Final config
WORKDIR /
Expand Down
60 changes: 29 additions & 31 deletions scripts/docker/Dockerfile.simulation
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
################################################################################
# Stage 1 - 8GB ################################################################
################################################################################
FROM nvcr.io/nvidia/cuda:12.8.1-cudnn-runtime-ubuntu22.04 AS ros2-image
FROM nvcr.io/nvidia/cuda:12.8.1-cudnn-runtime-ubuntu24.04 AS ros2-image

# Tell apt (and other Debian tools) not to prompt for user input during package installs
ENV DEBIAN_FRONTEND=noninteractive

# Update the package list and install basic dependencies
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
wget gosu htop vim ruby tmux net-tools iproute2 iputils-ping \
python3-pip python3-venv \
Expand All @@ -16,32 +16,32 @@ RUN apt update \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*

# Install ROS2 Humble
# Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
RUN apt update \
# Install ROS2 Jazzy
# Based on https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
locales \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
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 apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
software-properties-common curl \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN 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
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
ros-humble-desktop ros-dev-tools \
ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
ros-humble-vision-msgs \
ros-jazzy-desktop ros-dev-tools \
ros-jazzy-bondcpp ros-jazzy-ament-cmake-clang-format \
ros-jazzy-vision-msgs \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc
RUN rosdep init

################################################################################
Expand All @@ -51,16 +51,16 @@ FROM ros2-image AS ros2-gz-qgc-image

# Gazebo Harmonic
# Based on https://gazebosim.org/docs/harmonic/install_ubuntu/
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
lsb-release gnupg \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
gz-harmonic ros-humble-ros-gzharmonic \
gz-harmonic ros-jazzy-ros-gz \
libgz-transport13-* python3-gz-transport13 python3-gz-msgs10 \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
Expand All @@ -72,7 +72,7 @@ WORKDIR /
RUN useradd -m -s /bin/bash qgcuser
RUN usermod -aG dialout qgcuser
# RUN apt-get remove modemmanager -y
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
libfuse2 \
Expand Down Expand Up @@ -118,14 +118,13 @@ RUN chown -R root:root /git/ardupilot
# Based on https://ardupilot.org/dev/docs/sitl-with-gazebo.html
COPY /github_clones/ardupilot_gazebo /git/ardupilot_gazebo
WORKDIR /git/ardupilot_gazebo
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
rapidjson-dev \
libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
RUN pip3 install --no-cache-dir --upgrade pip \
&& pip3 install --no-cache-dir --resume-retries 5 "numpy<2" mavproxy
RUN pip3 install --no-cache-dir "numpy<2" mavproxy --break-system-packages
ENV GZ_VERSION=harmonic
RUN mkdir build && cd build && \
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && \
Expand All @@ -134,7 +133,7 @@ RUN mkdir build && cd build && \
################################################################################
# Temporary stage to filter airframes ##########################################
################################################################################
FROM ubuntu:22.04 AS airframe_filter_stage
FROM ubuntu:24.04 AS airframe_filter_stage
COPY simulation/simulation_resources/aircraft_models/ /temp_folder
RUN mkdir /airframes
RUN find /temp_folder -type f -regex '.*/[0-9]+_.*' -exec cp {} /airframes/ \;
Expand Down Expand Up @@ -171,21 +170,20 @@ RUN make px4_sitl
FROM ros2-gz-qgc-px4custom-ardupilot-image AS ros2-gz-qgc-px4custom-ardupilot-gst-pymavlink-zenoh-image

# Add GStreamer packages to stream the cameras to the aircraft containers
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly gstreamer1.0-libav \
python3-gi gir1.2-gst-plugins-base-1.0 gir1.2-gstreamer-1.0 \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*

# Add pymavlink to emulate the ground system using telemetry data
RUN pip3 install --no-cache-dir --upgrade pip \
&& pip3 install --no-cache-dir --resume-retries 5 pymavlink
RUN pip3 install --no-cache-dir pymavlink --break-system-packages
# Check with $ python3 -c "import pymavlink; print(pymavlink.__version__)"

# Install Zenoh
RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
RUN apt-get update && \
RUN apt-get update --allow-releaseinfo-change || (sleep 30 && apt-get update --allow-releaseinfo-change) && \
apt-get install -y zenoh-bridge-ros2dds \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
Expand All @@ -196,38 +194,38 @@ RUN apt-get update && \
FROM ros2-gz-qgc-px4custom-ardupilot-gst-pymavlink-zenoh-image AS simulation-dev-image

# Install wmctrl and xrandr to resize Gazebo and QGC GUIs
RUN apt update \
RUN apt update --allow-releaseinfo-change || (sleep 30 && apt update --allow-releaseinfo-change) \
&& apt install -y --no-install-recommends \
wmctrl x11-xserver-utils \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*

# Install https://github.com/PX4/flight_review
RUN apt-get update && \
RUN apt-get update --allow-releaseinfo-change || (sleep 30 && apt-get update --allow-releaseinfo-change) && \
apt-get install -y sqlite3 libfftw3-bin libfftw3-dev \
&& apt clean \
&& rm -rf /var/lib/apt/lists/*
COPY /github_clones/flight_review /git/flight_review
WORKDIR /git/flight_review/app
RUN python3 -m venv /px4rf-env
RUN /px4rf-env/bin/pip3 install --no-cache-dir --upgrade pip && \
/px4rf-env/bin/pip3 install --no-cache-dir --resume-retries 5 -r requirements.txt
/px4rf-env/bin/pip3 install --no-cache-dir -r requirements.txt

# Build the ROS 2 workspace for external packages
RUN mkdir -p /ros2_ws_github/src
WORKDIR /ros2_ws_github
RUN rosdep update
RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y
RUN rosdep install --from-paths src/ --ignore-src --rosdistro jazzy -y
# Explicitly use bash, not sh, to source and build the workspace
RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
RUN bash -c "source /opt/ros/jazzy/setup.bash && colcon build --symlink-install"

# Build the ROS 2 workspace
COPY simulation/simulation_ws/src /ros2_ws/src
WORKDIR /ros2_ws
RUN rosdep update
RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y
RUN rosdep install --from-paths src/ --ignore-src --rosdistro jazzy -y
# Explicitly use bash, not sh, to source and build the workspace
RUN bash -c "source /opt/ros/humble/setup.bash && source /ros2_ws_github/install/setup.bash && colcon build --symlink-install"
RUN bash -c "source /opt/ros/jazzy/setup.bash && source /ros2_ws_github/install/setup.bash && colcon build --symlink-install"

# Copy resources and configuration files from this repository
COPY simulation/simulation_resources/ /simulation_resources
Expand All @@ -238,7 +236,7 @@ RUN chmod +x /simulation_resources/simulation_worlds/_create_ardupilot_world.sh
# Source the workspaces
RUN echo "source /ros2_ws_github/install/setup.bash" >> /root/.bashrc
RUN echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc
# If needed (but already in .bashrc) $ source /opt/ros/humble/setup.bash && source /ros2_ws_github/install/setup.bash && source /ros2_ws/install/setup.bash
# If needed (but already in .bashrc) $ source /opt/ros/jazzy/setup.bash && source /ros2_ws_github/install/setup.bash && source /ros2_ws/install/setup.bash

# Final config
WORKDIR /
Expand Down