iassc ros container updated to jetpack 6

docker/Dockerfile.aarch64

@@ -1,4 +1,4 @@
-# Copyright (c) 2021-2022, NVIDIA CORPORATION.  All rights reserved.
+# Copyright (c) 2021-2024, NVIDIA CORPORATION.  All rights reserved.
 #
 # NVIDIA CORPORATION and its licensors retain all intellectual property
 # and proprietary rights in and to this software, related documentation
@@ -7,224 +7,240 @@
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
 # Docker file for aarch64 based Jetson device
-ARG BASE_IMAGE="nvcr.io/nvidia/l4t-base:35.4.1"
+ARG BASE_IMAGE="nvcr.io/nvidia/l4t-cuda:12.2.12-devel"
 FROM ${BASE_IMAGE}
 
+# Store list of packages (must be first)
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-start-packages.csv
+
 # Disable terminal interaction for apt
 ENV DEBIAN_FRONTEND=noninteractive
 ENV SHELL /bin/bash
 SHELL ["/bin/bash", "-c"]
 
 # Ensure we have universe
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt \
-        && apt-get install -y software-properties-common \
+apt-get update && apt-get install -y \
-        && add-apt-repository universe
+        software-properties-common \
+&& add-apt-repository universe \
+&& apt-get update
 
 # Fundamentals
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+    apt-utils \
+    bash-completion \
     build-essential \
     ca-certificates \
     curl \
     git \
+    git-lfs \
     gnupg2 \
     iputils-ping \
+    libgoogle-glog-dev \
+    locales \
     lsb-release \
+    software-properties-common \
     sudo \
     tar \
     unzip \
     vim \
     wget \
-    libgoogle-glog-dev \
+    zlib1g-dev
-    software-properties-common \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
-# Upgrade cmake to 3.22.1 to match Ubuntu 22.04
+# Add Isaac apt repository
-# Key rotation 2024-01-10
+RUN --mount=type=cache,target=/var/cache/apt \
-RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
+    wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
-    && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null \
+    grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" /etc/apt/sources.list || \
-    && apt-get update \
+    echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | tee -a /etc/apt/sources.list \
-    && apt-get remove -y cmake && apt-get purge -y cmake && apt-get remove -y cmake-data && apt-get purge -y cmake-data \
+    && apt-get update
-    && apt-get install -y cmake=3.22.1-0kitware1ubuntu20.04.1 cmake-data=3.22.1-0kitware1ubuntu20.04.1 \
+
-    && cmake --version \
+# Setup Jetson debian repositories
-&& rm -rf /var/lib/apt/lists/* \
+RUN --mount=type=cache,target=/var/cache/apt \
-&& apt-get clean
+    apt-key adv --fetch-keys https://repo.download.nvidia.com/jetson/jetson-ota-public.asc \
+    && apt-key adv --fetch-keys http://l4t-repo.nvidia.com/jetson-ota-internal.key \
+    && echo 'deb https://repo.download.nvidia.com/jetson/common r36.3 main' > /etc/apt/sources.list.d/nvidia-l4t-apt-source.list \
+    && echo 'deb https://repo.download.nvidia.com/jetson/t234 r36.3 main' >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list \
+    && apt-get update
+
+# Python basics
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+    python3-dev \
+    python3-distutils \
+    python3-flake8 \
+    python3-pip \
+    python3-pytest-cov \
+    python3-venv \
+    python3-zmq \
+    python3.10 \
+    python3.10-venv
 
 # Set Python3 as default
 RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
 
-# Python basics
+# Core dev libraries
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
-        python3-dev \
+apt-get update && apt-get install -y \
-        python3-flake8 \
+    ffmpeg \
-        python3-pip \
+    gfortran \
-        python3-pytest-cov \
+    graphicsmagick-libmagick-dev-compat \
-&& rm -rf /var/lib/apt/lists/* \
+    jq \
-&& apt-get clean
+    kmod \
-
+    lcov \
-# Install OpenCV dependencies
+    libasio-dev \
-RUN apt-get update && apt-get install -y \
+    libassimp-dev \
-    libavformat-dev \
+    libatlas-base-dev \
-    libjpeg-dev \
+    libblas3 \
-    libopenjp2-7-dev \
+    libatlas3-base \
-    libpng-dev \
-    libpq-dev \
-    libswscale-dev \
-    libtbb2 \
-    libtbb-dev \
-    libtiff-dev \
-    pkg-config \
-    yasm \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Install additional packages needed for ROS 2 dependencies
-RUN apt-get update && apt-get install -y \
-    python3-distutils \
     libboost-all-dev \
     libboost-dev \
-    libpcl-dev \
-    libode-dev \
-    lcov \
-    python3-zmq \
-    libxaw7-dev \
-    libgraphicsmagick++1-dev \
-    graphicsmagick-libmagick-dev-compat \
     libceres-dev \
-    libsuitesparse-dev \
+    libbullet-dev \
+    libcunit1-dev \
+    libffi7 \
+    libfreetype6 \
+    libgraphicsmagick++1-dev \
+    libhidapi-libusb0 \
+    libinput10 \
+    libjpeg8 \
+    liblapack3 \
+    libmnl0 \
+    libmnl-dev \
     libncurses5-dev \
-    libassimp-dev \
+    libode-dev \
-    libyaml-cpp-dev \
+    libopenblas0 \
+    libopencv-dev=4.5.4+dfsg-9ubuntu4 \
+    libopenmpi3 \
     libpcap-dev \
-&& rm -rf /var/lib/apt/lists/* \
+    libpcl-dev \
-&& apt-get clean
+    libsuitesparse-dev \
+    libtinyxml2-dev \
+    libturbojpeg \
+    linuxptp \
+    libunwind8 \
+    libv4l-0 \
+    libx264-dev \
+    libxaw7-dev \
+    libyaml-cpp-dev \
+    llvm-14 \
+    nlohmann-json3-dev \
+    python3-opencv=4.5.4+dfsg-9ubuntu4 \
+    python3-scipy
 
-# sklearn dependencies
+# Additional Python dependencies
-RUN apt-get update && apt-get install -y \
-    gfortran \
-    libatlas-base-dev \
-    python3-scipy \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# sklearn Python dependencies
 RUN python3 -m pip install -U \
     Cython \
-    wheel
+    pymongo \
+    wheel \
+    scikit-learn \
+    ninja \
+    networkx \
+    numpy \
+    numpy-quaternion \
+    pyyaml \
+    setuptools_scm>=6.2 \
+    trimesh \
+    yourdfpy>=0.0.53 \
+    warp-lang>=0.9.0 \
+    scipy>=1.7.0 \
+    tqdm \
+    importlib_resources
 
-# Install sklearn
-RUN python3 -m pip install -U \
-    scikit-learn
-
-# Install Git-LFS
-RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
-        apt-get update && apt-get install -y \
-        git-lfs \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Install TensorRT and VPI
-RUN apt-get update && apt-get install -y \
-        tensorrt \
-        vpi2-dev \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Install tao-converter
-COPY tao/tao-converter-aarch64-tensorrt8.4.zip /opt/nvidia/tao/tao-converter-aarch64-tensorrt8.4.zip
-RUN mkdir -p /opt/nvidia/tao && \
-    cd /opt/nvidia/tao && \
-    unzip -j tao-converter-aarch64-tensorrt8.4.zip -d /opt/nvidia/tao/jp5 && \
-    chmod 755 $(find /opt/nvidia/tao -name "tao-converter") && \
-    ln -sf $(find /opt/nvidia/tao -name "tao-converter")  /opt/nvidia/tao/tao-converter && \
-    rm tao-converter-aarch64-tensorrt8.4.zip
-
-ENV PATH="${PATH}:/opt/nvidia/tao"
 
 # Update environment
-ENV LD_LIBRARY_PATH="/opt/nvidia/vpi2/lib64:${LD_LIBRARY_PATH}"
+RUN update-alternatives --install /usr/bin/llvm-config llvm-config /usr/bin/llvm-config-14 14
+ENV LD_LIBRARY_PATH="/opt/nvidia/vpi3/lib64:${LD_LIBRARY_PATH}"
 ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra:${LD_LIBRARY_PATH}"
-ENV LD_LIBRARY_PATH="/usr/local/cuda-11.4/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}"
+ENV LD_LIBRARY_PATH="/usr/local/cuda-12.2/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}"
 ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra-egl:${LD_LIBRARY_PATH}"
 ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra/weston:${LD_LIBRARY_PATH}"
 ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/lib/aarch64-linux-gnu-host"
-ENV PATH="${PATH}:/usr/local/cuda/bin"
+ENV PATH="/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/src/tensorrt/bin:${PATH}"
 
-# https://forums.developer.nvidia.com/t/error-importerror-usr-lib-aarch64-linux-gnu-libgomp-so-1-cannot-allocate-memory-in-static-tls-block-i-looked-through-available-threads-already/166494/3
+# Install CUDA packages
-ENV LD_PRELOAD="/usr/lib/aarch64-linux-gnu/libgomp.so.1"
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y --no-install-recommends \
+    cuda-cudart-12-2 \
+    cuda-libraries-12-2 \
+    cuda-nvml-dev-12-2 \
+    cuda-sanitizer-12-2 \
+    cuda-toolkit-12-2 \
+    libcublas-12-2 \
+    libcudnn8 \
+    libcusparse-12-2 \
+    libnpp-12-2
+
+# Install TensorRT and VPI
+RUN --mount=type=cache,target=/var/cache/apt \
+mkdir -p /lib/firmware && \
+apt-get update && apt-get install -y \
+    libnvvpi3 \
+    tensorrt \
+    vpi3-dev
+
+# Install Tao converter
+RUN mkdir -p /opt/nvidia/tao && cd /opt/nvidia/tao && \
+    wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/org/nvidia/team/tao/tao-converter/v5.1.0_jp6.0_aarch64/files?redirect=true&path=tao-converter' -O tao-converter && \
+    chmod 755 tao-converter
+
+ENV PATH="${PATH}:/opt/nvidia/tao"
+ENV TRT_LIB_PATH="/usr/lib/aarch64-linux-gnu"
+ENV TRT_INCLUDE_PATH="/usr/include/aarch64-linux-gnu"
 
 # PyTorch (NV CUDA edition)
 # https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html
 RUN python3 -m pip install --no-cache \
-        https://developer.download.nvidia.cn/compute/redist/jp/v50/pytorch/torch-1.13.0a0+340c4120.nv22.06-cp38-cp38-linux_aarch64.whl
+        https://developer.download.nvidia.com/compute/redist/jp/v60dp/pytorch/torch-2.2.0a0+6a974be.nv23.11-cp310-cp310-linux_aarch64.whl
 
-# Install Triton server 2.24 from https://github.com/triton-inference-server/server/releases/tag/v2.24.0
+# Install Triton server from https://github.com/triton-inference-server/server/releases/tag/v2.40.0
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN --mount=type=cache,target=/var/cache/apt \
-    autoconf \
+apt-get update && apt-get install -y --no-install-recommends \
-    automake \
+    libb64-0d \
-    libb64-dev \
+    libre2-9 \
-    libcurl4-openssl-dev \
-    libopenblas-dev \
-    libre2-dev \
-    libssl-dev \
-    libtool \
-    patchelf \
     rapidjson-dev \
-    zlib1g-dev \
+    libopenblas-dev \
-&& rm -rf /var/lib/apt/lists/* \
+    libarchive-dev
-&& apt-get clean
 
-RUN mkdir -p /opt/tritonserver && cd /opt/tritonserver \
+RUN  --mount=type=cache,target=/var/cache/apt \
-    && wget https://github.com/triton-inference-server/server/releases/download/v2.24.0/tritonserver2.24.0-jetpack5.0.2.tgz \
+    cd /opt \
-    && tar -xzvf tritonserver2.24.0-jetpack5.0.2.tgz \
+    && wget https://github.com/triton-inference-server/server/releases/download/v2.40.0/tritonserver2.40.0-igpu.tar.gz \
-    && rm tritonserver2.24.0-jetpack5.0.2.tgz
+    && tar -xzvf tritonserver2.40.0-igpu.tar.gz \
+    && chmod 644 /opt/tritonserver/backends/tensorflow/libtensorflow_cc.so.2 \
+    && chmod 644 /opt/tritonserver/backends/tensorflow/libtensorflow_framework.so.2 \
+    && rm tritonserver2.40.0-igpu.tar.gz
 
 ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"
 
+# Install boost version >= 1.78 for boost::span
+# Current libboost-dev apt packages are < 1.78, so install from tar.gz
+RUN --mount=type=cache,target=/var/cache/apt \
+    wget -O /tmp/boost.tar.gz \
+    https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz \
+    && (cd /tmp && tar xzf boost.tar.gz) \
+    && cd /tmp/boost_1_80_0 \
+    && ./bootstrap.sh --prefix=/usr \
+    && ./b2 install \
+    && rm -rf /tmp/boost*
+
+# Install CV-CUDA
+RUN --mount=type=cache,target=/var/cache/apt \
+    cd /tmp && \
+    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-lib-0.5.0_beta_DP-cuda12-aarch64-linux.deb && \
+    dpkg -i nvcv-lib-0.5.0_beta_DP-cuda12-aarch64-linux.deb && \
+    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-dev-0.5.0_beta_DP-cuda12-aarch64-linux.deb && \
+    dpkg -i nvcv-dev-0.5.0_beta_DP-cuda12-aarch64-linux.deb
+
 # Add MQTT binaries and libraries
-RUN apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
+RUN --mount=type=cache,target=/var/cache/apt \
-    && apt-get update && apt-get install -y \
+apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
+&& apt-get update && apt-get install -y \
         mosquitto \
-        mosquitto-clients \
+        mosquitto-clients
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
-# Note: VPN cannot be on for pymongo download
+# Install jtop
 RUN python3 -m pip install -U \
-  pymongo \
+    jetson-stats
-  paho-mqtt
 
-# Core dev libraries
+# Store list of packages (must be last)
-RUN apt-get update && apt-get install -y \
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/aarch64-end-packages.csv
-        libasio-dev \
-        libbullet-dev \
-        libtinyxml2-dev \
-        libcunit1-dev \
-        libopencv-dev=4.2.0+dfsg-5 \
-        python3-opencv=4.2.0+dfsg-5 \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# NPP library
-RUN apt-get update && apt-get install -y --no-install-recommends \
-        libnpp-dev-11-4 \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Upgrade libc to resolve vulnerabilities including CVE-2019-11477
-RUN apt-get update && apt-get install -y --only-upgrade \
-       linux-libc-dev \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Downgrade protobuf
-RUN python3 -m pip install \
-        protobuf==3.20.1
-
-# # GPU usage monitoring on Jetson
-# RUN python3 -m pip install -U \
-#   jetson-stats
-
-# Apply libcudacxx patch for fixing C++17 compilation errors in GXF
-COPY patches/libcudacxx_aarch64_cuda_11_4.diff /tmp/
-RUN patch -i /tmp/libcudacxx_aarch64_cuda_11_4.diff /usr/local/cuda-11.4/targets/aarch64-linux/include/cuda/std/detail/libcxx/include/cmath

docker/Dockerfile.aarch64.ros2_humble

@@ -1,9 +0,0 @@
-# Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
-#
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_b7e1ed6c02a6fa3c1c7392479291c035

docker/Dockerfile.cvcuda

@@ -1,30 +0,0 @@
-# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
-#
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-# Install cvCUDA into the dev image
-
-ARG BASE_IMAGE
-FROM ${BASE_IMAGE}
-
-RUN if [ "$(uname -m)" = "x86_64" ]; then \
-    cd /tmp; \
-    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.4.0-beta/nvcv-lib-0.4.0_beta-cuda11-x86_64-linux.deb; \
-    dpkg -i nvcv-lib-0.4.0_beta-cuda11-x86_64-linux.deb; \
-    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.4.0-beta/nvcv-dev-0.4.0_beta-cuda11-x86_64-linux.deb; \
-    dpkg -i nvcv-dev-0.4.0_beta-cuda11-x86_64-linux.deb; \
-    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.4.0-beta/nvcv-lib-0.4.0_beta-cuda11-x86_64-linux.deb; \
-    dpkg -i nvcv-lib-0.4.0_beta-cuda11-x86_64-linux.deb; \
-  else \
-    echo "Not available on aarch64 pending availability of https://github.com/CVCUDA/CV-CUDA/releases/download/v0.4.0-beta/nvcv-lib-0.4.0_beta-cuda11-aarch64-linux.deb" ; \
-    # cd /tmp; \
-    # wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.4.0-beta/nvcv-lib-0.4.0_beta-cuda11-aarch64-linux.deb; \
-    # dpkg -i nvcv-lib-0.4.0_beta-cuda11-aarch64-linux.deb; \
-    # wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.4.0-beta/nvcv-dev-0.4.0_beta-cuda11-aarch64-linux.deb; \
-    # dpkg -i nvcv-dev-0.4.0_beta-cuda11-aarch64-linux.deb; \
-  fi
-

docker/Dockerfile.go2py

@@ -1,23 +1,11 @@
 ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
 
-# Install dependencies
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=scripts/install-tools.sh,target=/tmp/install-tools.sh \
-    bash /tmp/install-tools.sh
-    
-RUN --mount=type=cache,target=/root/.cache/pip \
-    --mount=type=bind,source=scripts/install-python-requirements.sh,target=/tmp/install-python-requirements.sh \
-    bash /tmp/install-python-requirements.sh
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=scripts/install-3rdparty.sh,target=/tmp/install-3rdparty.sh \
-    bash /tmp/install-3rdparty.sh
-
-# Install unitree_ros2
 RUN --mount=type=cache,target=/var/cache/apt \
     --mount=type=bind,source=scripts/install-unitree-ros2.sh,target=/tmp/install-unitree-ros2.sh \
     bash /tmp/install-unitree-ros2.sh
 
 RUN apt install -y ros-humble-isaac-ros-h264-decoder ros-humble-isaac-ros-h264-encoder
 
-USER $USERNAME
+RUN mkdir -p /realsense-ws/src && cd /realsense-ws/src && git clone https://github.com/IntelRealSense/realsense-ros.git && cd .. && source /opt/ros/humble/setup.bash && colcon build
+USER $USERNAME

docker/Dockerfile.realsense

@@ -11,25 +11,39 @@
 ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
 
+ARG LIBREALSENSE_SOURCE_VERSION=v2.55.1
+ARG LIBREALSENSE_DEB_VERSION=2.55.1-0~realsense.12474
+ARG LIBREALSENSE_DKMS_DEB_VERSION=1.3.26-0ubuntu1
+ARG REALSENSE2_CAMERA_ROS_DEB_VERSION=4.54.1-1jammy.20240517.191635
+
+# Install realsense2-camera ROS package and librealsense from binaries for x86_64 only
+RUN --mount=type=cache,target=/var/cache/apt \
+    if [[ "$(uname -m)" == "x86_64" ]]; then \
+        mkdir -p /etc/apt/keyrings && \
+        curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | \
+        tee /etc/apt/keyrings/librealsense.pgp > /dev/null  && \
+        echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] \
+        https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
+        tee /etc/apt/sources.list.d/librealsense.list && apt-get update && \
+        apt-get install -y \
+        librealsense2-dkms=${LIBREALSENSE_DKMS_DEB_VERSION} \
+        librealsense2-utils=${LIBREALSENSE_DEB_VERSION} \
+        librealsense2-dev=${LIBREALSENSE_DEB_VERSION} \
+        ros-humble-realsense2-camera=${REALSENSE2_CAMERA_ROS_DEB_VERSION}; \
+    fi
+
 COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh
 COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh
 
-RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && /opt/realsense/install-realsense-dependencies.sh
+# Build librealsense from source for aarch64 only
-RUN chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh
+# The realsense2-camera ROS package will be built from source as part of the "RealSense Setup docs" for aarch64 only
+RUN if [[ $(uname -m) == "aarch64" ]]; then \
+        chmod +x /opt/realsense/install-realsense-dependencies.sh && \
+        /opt/realsense/install-realsense-dependencies.sh; \
+        chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh -v ${LIBREALSENSE_SOURCE_VERSION}; \
+    fi
 
-# Copy hotplug script which will get invoked whenever a devices plugged or un-plugged
+# Copy hotplug script for udev rules/hotplug for RealSense
 RUN mkdir -p /opt/realsense/
 COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh
-
-# Copy custom udev rules file
 COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules
-
-# Clone and compile the realsense ros
-RUN mkdir -p /home/realsenes-ws/src && cd /home/realsenes-ws/src && \
-    git clone https://github.com/IntelRealSense/realsense-ros.git && \  
-    cd .. && \ 
-    source /opt/ros/humble/setup.bash && \
-    colcon build --symlink-install
-
-# add the source to the bashrc
-RUN echo "source /home/realsenes-ws/install/setup.bash" >> /root/.bashrc

docker/Dockerfile.ros2_humble

@@ -1,4 +1,4 @@
-# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
+# Copyright (c) 2023-2024, NVIDIA CORPORATION.  All rights reserved.
 #
 # NVIDIA CORPORATION and its licensors retain all intellectual property
 # and proprietary rights in and to this software, related documentation
@@ -9,14 +9,16 @@
 ARG BASE_IMAGE
 FROM $BASE_IMAGE
 
+# Store list of packages (must be first)
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-start-packages.csv
+
 # disable terminal interaction for apt
 ENV DEBIAN_FRONTEND=noninteractive
 ENV SHELL /bin/bash
 SHELL ["/bin/bash", "-c"]
 
 # Env setup
-RUN locale-gen en_US en_US.UTF-8
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 ENV LANG=en_US.UTF-8
 ENV ROS_PYTHON_VERSION=3
 ENV ROS_DISTRO=humble
@@ -25,31 +27,23 @@ ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 # Avoid setup.py and easy_install deprecation warnings caused by colcon and setuptools
 # https://github.com/colcon/colcon-core/issues/454
-ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
+ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:::setuptools.command.develop
 RUN echo "Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon"
 
 # Add ROS 2 apt repository
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN --mount=type=cache,target=/var/cache/apt \
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
-
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
-# Add Isaac apt repository
+    && apt-get update
-RUN wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
-    grep -qxF 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' /etc/apt/sources.list || \
-    echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | tee -a /etc/apt/sources.list
-
-# Basics
-RUN apt-get update && apt-get install -y \
-        curl \
-        gnupg \
-        lsb-release \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
 # ROS fundamentals
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
-        build-essential \
+apt-get update && apt-get install -y \
-        git \
+        devscripts \
-        libyaml-cpp-dev=0.7.0+dfsg-8backport \
+        dh-make \
+        fakeroot \
+        libxtensor-dev \
+        python3-bloom \
         python3-colcon-common-extensions \
         python3-pip \
         python3-pybind11 \
@@ -57,9 +51,7 @@ RUN apt-get update && apt-get install -y \
         python3-rosdep \
         python3-rosinstall-generator \
         python3-vcstool \
-        wget \
+        quilt
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
 # ROS Python fundamentals
 RUN python3 -m pip install -U \
@@ -71,24 +63,16 @@ RUN python3 -m pip install -U \
         flake8-docstrings \
         flake8-import-order \
         flake8-quotes \
-        pytest-repeat \
+        numpy>=1.24.4 \
-        pytest-rerunfailures \
+        matplotlib \
-        pytest \
+        pandas \
+        rosbags \
         setuptools==65.7.0
 
-# Basics
-RUN apt-get update && apt-get install -y \
-        curl \
-        gnupg \
-        locales \
-        lsb-release \
-        python3-bloom \
-        libxtensor-dev \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
 # Install ROS 2 Humble
-RUN apt-get update && apt-get install -y ros-humble-ros-base \
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+    ros-humble-ros-base \
     ros-humble-angles \
     ros-humble-apriltag \
     ros-humble-behaviortree-cpp-v3 \
@@ -100,6 +84,7 @@ RUN apt-get update && apt-get install -y ros-humble-ros-base \
     ros-humble-cv-bridge \
     ros-humble-demo-nodes-cpp \
     ros-humble-demo-nodes-py \
+    ros-humble-diagnostic-aggregator \
     ros-humble-diagnostic-updater \
     ros-humble-example-interfaces \
     ros-humble-foxglove-bridge \
@@ -114,12 +99,22 @@ RUN apt-get update && apt-get install -y ros-humble-ros-base \
     ros-humble-nav2-bringup \
     ros-humble-nav2-msgs \
     ros-humble-nav2-mppi-controller \
+    ros-humble-nav2-graceful-controller \
     ros-humble-navigation2 \
     ros-humble-ompl \
     ros-humble-resource-retriever \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-rmw-fastrtps-cpp \
+    ros-humble-rosbag2 \
+    ros-humble-rosbag2-compression-zstd \
+    ros-humble-rosbag2-cpp \
+    ros-humble-rosbag2-py \
+    ros-humble-rosbag2-storage-mcap \
+    ros-humble-rosbridge-suite \
     ros-humble-rqt-graph \
-    ros-humble-rqt-reconfigure \
     ros-humble-rqt-image-view \
+    ros-humble-rqt-reconfigure \
+    ros-humble-rqt-robot-monitor \
     ros-humble-rviz2 \
     ros-humble-rviz-common \
     ros-humble-rviz-default-plugins \
@@ -128,56 +123,32 @@ RUN apt-get update && apt-get install -y ros-humble-ros-base \
     ros-humble-v4l2-camera \
     ros-humble-vision-opencv \
     ros-humble-vision-msgs \
-&& rm -rf /var/lib/apt/lists/* \
+    ros-humble-vision-msgs-rviz-plugins
-&& apt-get clean
-
-# Build Essentials
-RUN apt-get update && apt-get install -y \
-    build-essential \
-    devscripts \
-    dh-make \
-    quilt \
-    fakeroot \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
 # Setup rosdep
-RUN rosdep init \
+COPY rosdep/extra_rosdeps.yaml /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml
-    && mkdir -p /etc/ros/rosdep/sources.list.d/ \
+RUN --mount=type=cache,target=/var/cache/apt \
-    && curl -o /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml https://isaac.download.nvidia.com/isaac-ros/extra_rosdeps.yaml \
+    rosdep init \
     && echo "yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml" | tee /etc/ros/rosdep/sources.list.d/00-nvidia-isaac.list \
     && rosdep update
 
 ####### -- Install updated packages over installed debians
 
 # Install negotiated from source
-RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+RUN --mount=type=cache,target=/var/cache/apt \
+    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && git clone https://github.com/osrf/negotiated && cd negotiated && git checkout master \
     && source ${ROS_ROOT}/setup.bash \
     && cd negotiated_interfaces && bloom-generate rosdebian && fakeroot debian/rules binary \
     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
     && cd negotiated && bloom-generate rosdebian && fakeroot debian/rules binary \
-    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Install vda5050_msgs from source
-RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
-    && git clone https://github.com/ipa320/vda5050_msgs.git vda5050_root \
-    && cd vda5050_root && git checkout ros2 && cd .. \
-    && mv vda5050_root/vda5050_msgs/ vda5050_msgs \
-    && rm -rf vda5050_root \
-    && source ${ROS_ROOT}/setup.bash \
-    && cd vda5050_msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
-    && cd ../ && apt-get install -y ./*.deb \
-    && cd ../ && rm -Rf src build log \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
 # Install image_proc from 55bf2a38 with backported resize node fix
 # https://github.com/ros-perception/image_pipeline/pull/786/commits/969d6c763df99b42844742946f7a70c605a72a15
 # Revert breaking QoS changes in https://github.com/ros-perception/image_pipeline/pull/814
-RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+RUN --mount=type=cache,target=/var/cache/apt \
+    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && git clone https://github.com/ros-perception/image_pipeline.git && cd image_pipeline && git checkout 55bf2a38c327b829c3da444f963a6c66bfe0598f \
     && git config user.email "builder@nvidia.com" && git config user.name "NVIDIA Builder" \
     && git remote add fork https://github.com/schornakj/image_pipeline.git && git fetch fork && git cherry-pick 969d6c763df99b42844742946f7a70c605a72a15 \
@@ -185,15 +156,14 @@ RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && cd image_proc && bloom-generate rosdebian && fakeroot debian/rules binary \
     && cd ../ && apt-get install -y --allow-downgrades ./*.deb \
     && echo "image_pipeline (image_proc) https://github.com/ros-perception/image_pipeline/pull/786/commits/969d6c763df99b42844742946f7a70c605a72a15 on 55bf2a38" >> ${ROS_ROOT}/VERSION \
-    && cd ../ && rm -Rf src build log \
+    && cd ../ && rm -Rf src build log
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
 # Install patched rclcpp package with backported multithreadedexecutor fix
 # https://github.com/ros2/rclcpp/commit/232262c02a1265830c7785b7547bd51e1124fcd8
 COPY patches/rclcpp-disable-tests.patch /tmp/
-RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+RUN --mount=type=cache,target=/var/cache/apt \
-    && export RCLCPP_VERSION="release/humble/rclcpp/$(apt-cache madison ros-humble-rclcpp | grep -m1 -oP 'ros-humble-rclcpp \| \K[^f]+(?=focal)')" \
+    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+    && export RCLCPP_VERSION="release/humble/rclcpp/$(apt-cache madison ros-humble-rclcpp | grep -m1 -oP 'ros-humble-rclcpp \| \K[^j]+(?=jammy)')" \
     && echo ${RCLCPP_VERSION} \
     && git clone https://github.com/ros2-gbp/rclcpp-release.git && cd rclcpp-release && git checkout ${RCLCPP_VERSION} \
     && patch -i /tmp/rclcpp-disable-tests.patch \
@@ -206,21 +176,107 @@ RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && cd rclcpp-release && bloom-generate rosdebian && fakeroot debian/rules binary \
     && cd ../ && apt-get install -y --allow-downgrades ./*.deb \
     && echo "rclcpp https://github.com/ros2/rclcpp/commit/232262c02a1265830c7785b7547bd51e1124fcd8" >> ${ROS_ROOT}/VERSION \
-    && cd ../ && rm -Rf src build log \
+    && cd ../ && rm -Rf src build log
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
-# Install additional ROS packages
+# Install Moveit 2 ROS packages
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
-    ros-humble-camera-info-manager \
+apt-get update && apt-get install -y \
-    ros-humble-rosbag2 \
+    ros-humble-ament-cmake \
-    ros-humble-rosbag2-compression-zstd \
+    ros-humble-ament-cmake-gtest \
-    ros-humble-rosbag2-cpp \
+    ros-humble-control-msgs \
-    ros-humble-rosbag2-py \
+    ros-humble-controller-manager \
-    ros-humble-rosbridge-suite \
+    ros-humble-geometric-shapes \
-    ros-humble-rqt-graph \
+    ros-humble-gripper-controllers \
-    ros-humble-rqt-reconfigure \
+    ros-humble-interactive-markers \
-    ros-humble-rviz-common \
+    ros-humble-joint-state-broadcaster \
-    ros-humble-rviz-default-plugins \
+    ros-humble-joint-state-publisher \
-&& rm -rf /var/lib/apt/lists/* \
+    ros-humble-joint-trajectory-controller \
-&& apt-get clean
+    ros-humble-joy \
+    ros-humble-launch-param-builder \
+    ros-humble-moveit \
+    ros-humble-moveit-common \
+    ros-humble-moveit-configs-utils \
+    ros-humble-moveit-core \
+    ros-humble-moveit-msgs \
+    ros-humble-moveit-ros-perception \
+    ros-humble-moveit-ros-planning \
+    ros-humble-moveit-ros-planning-interface \
+    ros-humble-moveit-servo \
+    ros-humble-moveit-visual-tools \
+    ros-humble-pluginlib \
+    ros-humble-robot-state-publisher \
+    ros-humble-ros2-control \
+    ros-humble-rviz-visual-tools \
+    ros-humble-rviz2 \
+    ros-humble-srdfdom \
+    ros-humble-tf2-eigen \
+    ros-humble-tf2-geometry-msgs \
+    ros-humble-tf2-ros \
+    ros-humble-topic-based-ros2-control \
+    ros-humble-ur-description \
+    ros-humble-ur-moveit-config \
+    ros-humble-ur-msgs \
+    ros-humble-xacro
+
+# Install various moveit_resources packages from source.
+RUN --mount=type=cache,target=/var/cache/apt \
+    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+    && git clone https://github.com/ros-planning/moveit_resources.git -b humble \
+    && cd moveit_resources && source ${ROS_ROOT}/setup.bash \
+    && cd fanuc_description && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd .. && apt-get install -y ./*.deb && rm *.deb \
+    && cd fanuc_moveit_config && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd .. && apt-get install -y ./*.deb && rm *.deb \
+    && cd panda_description && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd .. && apt-get install -y ./*.deb && rm *.deb \
+    && cd panda_moveit_config && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd .. && apt-get install -y ./*.deb && rm *.deb \
+    && cd pr2_description && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd .. && apt-get install -y ./*.deb && rm *.deb \
+    && cd moveit_resources && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd .. && apt-get install -y ./*.deb && rm *.deb
+
+# Install MoveIt task constructor from source.  The "demo" package depends on moveit_resources_panda_moveit_config,
+# installed from source above.
+RUN --mount=type=cache,target=/var/cache/apt \
+    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+    && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
+    && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
+    && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
+    && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
+    && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
+    && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
+    && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
+    && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
+
+# MoveIt 2's hybrid planning package depends on moveit_resources_panda_moveit_config, installed from source above.
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+    ros-humble-moveit-hybrid-planning
+
+# Install moveit2_tutorials from source (depends on moveit_hybrid_planning).
+RUN --mount=type=cache,target=/var/cache/apt \
+    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
+    && git clone https://github.com/ros-planning/moveit2_tutorials.git -b humble \
+    && cd moveit2_tutorials && source ${ROS_ROOT}/setup.bash \
+    && bloom-generate rosdebian && fakeroot debian/rules binary \
+    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
+
+# Install paho-mqtt for isaac_ros_mission_client
+RUN python3 -m pip install -U \
+        paho-mqtt==1.6.1
+
+# Patch gtest to make it work with CXX 17
+RUN sudo sed -i '917i #ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL' /usr/src/googletest/googletest/include/gtest/internal/gtest-internal.h \
+    && sudo sed -i '920i #endif' /usr/src/googletest/googletest/include/gtest/internal/gtest-internal.h \
+    && sudo sed -i '2392i #if defined(GTEST_INTERNAL_CPLUSPLUS_LANG) && \\\n    GTEST_INTERNAL_CPLUSPLUS_LANG < 201703L\n#define GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL 1\n#endif' \
+    /usr/src/googletest/googletest/include/gtest/internal/gtest-port.h
+
+# Store list of packages (must be last)
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-end-packages.csv

docker/Dockerfile.user

@@ -15,11 +15,10 @@ ARG USER_UID=1000
 ARG USER_GID=1000
 
 # Install prerequisites
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
         sudo \
-        udev \
+        udev
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
 
 # Reuse triton-server user as 'admin' user if exists
 RUN if [ $(getent group triton-server) ]; then \
@@ -27,12 +26,14 @@ RUN if [ $(getent group triton-server) ]; then \
         usermod -l ${USERNAME} -u ${USER_UID} -m -d /home/${USERNAME} triton-server ; \
         mkdir -p /home/${USERNAME} ; \
         sudo chown ${USERNAME}:${USERNAME} /home/${USERNAME} ; \
+        # Wipe files that may create issues for users with large uid numbers.
+        rm -f /var/log/lastlog /var/log/faillog ; \
     fi
 
 # Create the 'admin' user if not already exists
 RUN if [ ! $(getent passwd ${USERNAME}) ]; then \
         groupadd --gid ${USER_GID} ${USERNAME} ; \
-        useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} ; \
+        useradd --no-log-init --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} ; \
     fi
 
 # Update 'admin' user
@@ -52,3 +53,9 @@ COPY middleware_profiles/*profile.xml /usr/local/share/middleware_profiles/
 ENV USERNAME=${USERNAME}
 ENV USER_GID=${USER_GID}
 ENV USER_UID=${USER_UID}
+
+# Switch to non-root user and return to root
+USER ${USERNAME}
+RUN --mount=type=cache,target=/var/cache/apt \
+    rosdep update
+USER root

docker/Dockerfile.x86

@@ -1,65 +0,0 @@
-FROM nvidia/cuda:12.1.1-devel-ubuntu22.04
-
-SHELL ["/bin/bash", "-c"]
-
-# Install dependencies
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=docker/scripts/install-tools.sh,target=/tmp/install-tools.sh \
-    bash /tmp/install-tools.sh
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=docker/scripts/install-ros2.sh,target=/tmp/install-ros2.sh \
-    bash /tmp/install-ros2.sh
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=docker/scripts/install-clang.sh,target=/tmp/install-clang.sh \
-    bash /tmp/install-clang.sh
-RUN --mount=type=cache,target=/root/.cache/pip \
-    --mount=type=bind,source=docker/scripts/install-python-requirements.sh,target=/tmp/install-python-requirements.sh \
-    bash /tmp/install-python-requirements.sh
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=docker/scripts/install-3rdparty.sh,target=/tmp/install-3rdparty.sh \
-    bash /tmp/install-3rdparty.sh
-
-# Last installation layer as we update ROS dependencies often
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=.,target=/tmp/ros_ws \
-    /tmp/ros_ws/docker/scripts/install-rosdep.sh
-
-# Clean cache
-RUN apt-get autoremove -y \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Create a non-root user
-ARG USERNAME=dev
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && apt-get update \
-    && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME \
-    && apt-get autoremove -y \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Create a workspace directory
-RUN mkdir -p /workspace/go2-devcontainer/src/go2-devcontainer \
-    && cd /workspace/go2-devcontainer \
-    && chown -R $USERNAME:$USERNAME /workspace/go2-devcontainer/
-
-RUN --mount=type=bind,source=docker/config/docker.bashrc,target=/tmp/docker.bashrc \
-    cat /tmp/docker.bashrc >> /home/$USERNAME/.bashrc
-
-# Clone unitree_ros2
-RUN --mount=type=cache,target=/var/cache/apt \
-    --mount=type=bind,source=docker/scripts/install-unitree-ros2.sh,target=/tmp/install-unitree-ros2.sh \
-    bash /tmp/install-unitree-ros2.sh
-
-# NVIDIA-related environment variables
-ENV NVIDIA_VISIBLE_DEVICES \
-    ${NVIDIA_VISIBLE_DEVICES:-all}
-ENV NVIDIA_DRIVER_CAPABILITIES \
-    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
-USER $USERNAME

docker/Dockerfile.x86_64

@@ -1,4 +1,4 @@
-# Copyright (c) 2021-2022, NVIDIA CORPORATION.  All rights reserved.
+# Copyright (c) 2021-2024, NVIDIA CORPORATION.  All rights reserved.
 #
 # NVIDIA CORPORATION and its licensors retain all intellectual property
 # and proprietary rights in and to this software, related documentation
@@ -9,32 +9,34 @@
 # Docker file to build on x86_64
 # https://docs.nvidia.com/deeplearning/frameworks/user-guide/index.html
 # https://docs.nvidia.com/deeplearning/frameworks/support-matrix/index.html
-ARG BASE_IMAGE=nvcr.io/nvidia/tritonserver:22.09-py3
+ARG BASE_IMAGE=nvcr.io/nvidia/tritonserver:23.10-py3
 FROM ${BASE_IMAGE}
 
+# Store list of packages (must be first)
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/x86_64-start-packages.csv
+
 # disable terminal interaction for apt
 ENV DEBIAN_FRONTEND=noninteractive
 ENV SHELL /bin/bash
 SHELL ["/bin/bash", "-c"]
 
-# NVIDIA repository keys: https://developer.nvidia.com/blog/updating-the-cuda-linux-gpg-repository-key/
+# Ensure we have universe
-RUN apt-key del 7fa2af80 && mkdir -p /tmp && cd /tmp \
+RUN --mount=type=cache,target=/var/cache/apt \
-        && wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.0-1_all.deb \
+apt-get update && apt-get install -y \
-        && dpkg -i cuda-keyring_1.0-1_all.deb \
+        software-properties-common \
-        && rm cuda-keyring_1.0-1_all.deb \
+&& add-apt-repository universe \
-        && add-apt-repository --remove 'deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /'
+&& apt-get update
 
 # Add Isaac apt repository
-RUN wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add -
+RUN --mount=type=cache,target=/var/cache/apt \
-RUN echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | tee -a /etc/apt/sources.list
+    wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | apt-key add - && \
-
+    grep -qxF "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" /etc/apt/sources.list || \
-# Ensure we have universe
+    echo "deb https://isaac.download.nvidia.com/isaac-ros/release-3 $(lsb_release -cs) release-3.0" | tee -a /etc/apt/sources.list \
-RUN apt-get update \
+    && apt-get update
-        && apt-get install -y software-properties-common \
-        && add-apt-repository universe
 
 # Fundamentals
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
         apt-transport-https \
         bash-completion \
         build-essential \
@@ -43,6 +45,7 @@ RUN apt-get update && apt-get install -y \
         cmake \
         curl \
         git \
+        git-lfs \
         gnupg2 \
         iputils-ping \
         locales \
@@ -53,41 +56,40 @@ RUN apt-get update && apt-get install -y \
         vim \
         unzip \
         mlocate \
-	libgoogle-glog-dev \
+	libgoogle-glog-dev
-&& rm -rf /var/lib/apt/lists/* \
+
-&& apt-get clean
+# Python basics
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+        python3-pip \
+        python3-pybind11 \
+        python3-pytest \
+        python3-pytest-repeat \
+        python3-pytest-rerunfailures \
+        python3-pytest-cov
 
 # Set Python3 as default
 RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
 
-# Python basics
-RUN apt-get update && apt-get install -y \
-        python3-pip \
-        python3-pybind11 \
-        python3-pytest-cov \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# 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/* \
-&& apt-get clean
-
 # Core dev libraries
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt \
+apt-get update && apt-get install -y \
+        ffmpeg \
         libasio-dev \
         libbullet-dev \
         libtinyxml2-dev \
         libcunit1-dev \
+        libmnl0 \
+        libmnl-dev \
+        libv4l-dev \
         libyaml-cpp-dev \
         libopencv-dev \
+        libpython3.10 \
+        libx264-dev \
+        kmod \
+        patchelf \
         python3-opencv \
-&& rm -rf /var/lib/apt/lists/* \
+        nlohmann-json3-dev
-&& apt-get clean
 
 # Python3 (PIP)
 RUN python3 -m pip install -U \
@@ -103,117 +105,71 @@ RUN python3 -m pip install -U \
         flake8-import-order \
         flake8-quotes \
         onnx \
-        pytest-repeat \
-        pytest-rerunfailures \
-        pytest \
         pydocstyle \
-        scikit-learn
+        scikit-learn \
+        ninja \
+        networkx \
+        numpy \
+        numpy-quaternion \
+        pyyaml \
+        setuptools_scm>=6.2 \
+        trimesh \
+        yourdfpy>=0.0.53 \
+        warp-lang>=0.9.0 \
+        scipy>=1.7.0 \
+        tqdm \
+        importlib_resources
 
-# Install Git-LFS
+# Install nvv4l2 for GXF Multimedia h264 codec
-RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
+RUN --mount=type=cache,target=/var/cache/apt \
-        apt-get update && apt-get install -y \
+apt-get update && apt-get install -y \
-        git-lfs \
+        nvv4l2 \
-&& rm -rf /var/lib/apt/lists/* \
+&& ln -s /usr/lib/x86_64-linux-gnu/libnvcuvid.so.1 /usr/lib/x86_64-linux-gnu/libnvcuvid.so \
-&& apt-get clean
+&& ln -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so
 
-# Upgrade cmake to 3.22.1 to match Ubuntu 22.04
+# Install VPI packages
-# Key rotation 2024-01-10
+ARG HAS_GPU="true"
-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 \
+RUN --mount=type=cache,target=/var/cache/apt \
-    && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null \
+    if [ "$HAS_GPU" = "true" ]; then \
-    && apt-get update \
+	set -e ; \
-    && apt-get remove -y cmake && apt-get purge -y cmake && apt-get remove -y cmake-data && apt-get purge -y cmake-data \
+        apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc ; \
-    && apt-get install -y cmake=3.22.1-0kitware1ubuntu20.04.1 cmake-data=3.22.1-0kitware1ubuntu20.04.1 \
+        add-apt-repository "deb http://repo.download.nvidia.com/jetson/x86_64/$(lsb_release -cs) r36.3 main" ; \
-    && cmake --version \
+        apt-get update ; \
-&& rm -rf /var/lib/apt/lists/* \
+        apt-get install libnvvpi3 vpi3-dev ; \
-&& apt-get clean
+    fi
 
 # Pytorch
-RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu113 \
+RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \
         torch \
         torchvision \
         torchaudio
 
-# Install VPI packages
-ARG HAS_GPU="true"
-RUN if [ "$HAS_GPU" = "true" ]; then \
-	set -e ; \
-        apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc ; \
-        add-apt-repository 'deb http://repo.download.nvidia.com/jetson/x86_64/focal r35.4 main' ; \
-        apt-get update ; \
-        apt-get install libnvvpi2 vpi2-dev ; \
-        rm -rf /var/lib/apt/lists/* ; \
-        apt-get clean ; \
-    fi
-
 # Install Tao converter
-RUN mkdir -p /opt/nvidia/tao && \
+RUN mkdir -p /opt/nvidia/tao && cd /opt/nvidia/tao && \
-    cd /opt/nvidia/tao && \
+    wget --content-disposition 'https://api.ngc.nvidia.com/v2/resources/org/nvidia/team/tao/tao-converter/v5.1.0_8.6.3.1_x86/files?redirect=true&path=tao-converter' -O tao-converter && \
-    wget https://developer.nvidia.com/tao-converter-80 && \
+    chmod 755 tao-converter
-    unzip tao-converter-80 && \
-    chmod 755 $(find /opt/nvidia/tao -name "tao-converter") && \
-    ln -sf $(find /opt/nvidia/tao -name "tao-converter") /opt/nvidia/tao/tao-converter && \
-    rm tao-converter-80
 
 ENV PATH="${PATH}:/opt/nvidia/tao"
+ENV TRT_LIB_PATH="/usr/lib/x86_64-linux-gnu"
+ENV TRT_INC_PATH="/usr/include/x86_64-linux-gnu"
 
 # Update environment
 ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"
 
+# Install CV-CUDA
+RUN --mount=type=cache,target=/var/cache/apt \
+    cd /tmp && \
+    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-lib-0.5.0_beta-cuda12-x86_64-linux.deb && \
+    dpkg -i nvcv-lib-0.5.0_beta-cuda12-x86_64-linux.deb && \
+    wget https://github.com/CVCUDA/CV-CUDA/releases/download/v0.5.0-beta/nvcv-dev-0.5.0_beta-cuda12-x86_64-linux.deb && \
+    dpkg -i nvcv-dev-0.5.0_beta-cuda12-x86_64-linux.deb
+
 # Add MQTT binaries and libraries
-RUN apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
+RUN --mount=type=cache,target=/var/cache/apt \
-    && apt-get update \
+apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
-    && apt-get install -y mosquitto mosquitto-clients \
+&& apt-get update && apt-get install -y \
-&& rm -rf /var/lib/apt/lists/* \
+        mosquitto \
-&& apt-get clean
+        mosquitto-clients
 
-RUN python3 -m pip install -U \
+# Store list of packages (must be last)
-        paho-mqtt
+RUN mkdir -p /opt/nvidia/isaac_ros_dev_base && dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/x86_64-end-packages.csv
-
-# Compression dependencies
-RUN apt-get update && apt-get install -y \
-        libv4l-dev \
-        kmod \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Install NVIDIA v4l2 extensions for h264 support
-RUN apt-get update && apt-get install -y nvv4l2
-
-# Upgrade libc to resolve vulnerabilities including CVE-2019-11477
-RUN apt-get update && apt-get install -y --only-upgrade \
-       linux-libc-dev \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-# Downgrade protobuf
-RUN python3 -m pip install \
-        protobuf==3.20.1
-
-# GPU usage monitoring on x86
-RUN python3 -m pip install \
-    gpustat==0.6.0
-
-# Python3 (PIP)
-RUN python3 -m pip install -U \
-    mailcap-fix
-
-# Resolve vulnerability in mailcap.py by removing it (CVE-2015-20107)
-RUN rm -f /opt/tritonserver/backends/dali/conda/envs/dalienv/lib/python3.8/mailcap.py
-
-# Remove any platform entangling dependencies
-RUN touch \
-    /usr/lib/x86_64-linux-gnu/libcuda.so \
-    /usr/lib/x86_64-linux-gnu/libnvcuvid.so \
-    /usr/lib/x86_64-linux-gnu/libnvidia.so \
-    /usr/lib/firmware \
-    /usr/local/cuda/compat/lib || true
-
-RUN rm -rf \
-    /usr/lib/x86_64-linux-gnu/libcuda.so* \
-    /usr/lib/x86_64-linux-gnu/libnvcuvid.so* \
-    /usr/lib/x86_64-linux-gnu/libnvidia-*.so* \
-    /usr/lib/firmware \
-    /usr/local/cuda/compat/lib || true
-
-# Restore symlink for nvencode
-RUN ln -f -s /usr/lib/x86_64-linux-gnu/libnvidia-encode.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-encode.so

docker/Dockerfile.x86_64.ros2_humble

@@ -1,9 +0,0 @@
-# Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
-#
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-FROM nvcr.io/nvidia/isaac/ros:x86_64-ros2_humble_bcf535ea3b9d16a854aaeb1701ab5a86

docker/Dockerfile.zed

@@ -1,44 +0,0 @@
-# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
-#
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-ARG BASE_IMAGE
-FROM ${BASE_IMAGE}
-
-ARG ZED_SDK_MAJOR=4
-ARG ZED_SDK_MINOR=0
-
-# zed-ros2-wrapper dependencies
-RUN apt-get update && apt-get install -y \
-    libgeographic-dev  \
-    ros-humble-geographic-info \
-    ros-humble-nmea-msgs \
-    ros-humble-robot-localization \
-    ros-humble-xacro \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
-
-RUN mkdir -p /opt/zed/
-
-# The zed installation script expects to be run as non-root user and needs the USER ENV variable to be set
-ENV USER=${USERNAME}
-USER ${USERNAME}
-
-COPY scripts/install-zed-x86_64.sh /opt/zed/install-zed-x86_64.sh
-COPY scripts/install-zed-aarch64.sh /opt/zed/install-zed-aarch64.sh
-
-RUN sudo chmod +x /opt/zed/install-zed-x86_64.sh
-RUN sudo chmod +x /opt/zed/install-zed-aarch64.sh
-
-RUN if [ "$(uname -m)" = "x86_64" ]; then \
-    /opt/zed/install-zed-x86_64.sh; \
-  else \
-    /opt/zed/install-zed-aarch64.sh; \
-  fi
-
-# Revert to root user
-USER root

docker/config/docker.bashrc

@@ -1,149 +0,0 @@
-##############################################
-## Bash Script
-##############################################
-
-PROMPT_COMMAND='history -a'
-HISTFILE=/home/dev/.bash_history
-LOG_WORKSPACE=/workspace/logging
-ROS_WORKSPACE=/workspace/go2-devcontainer
-
-export CC=clang
-export CXX=clang++
-export MAKEFLAGS="-j 8"
-
-export RCUTILS_COLORIZED_OUTPUT=1
-export ROS_LOG_DIR=/workspace/logging/logs
-export ROS_DATA_DIR=/workspace/logging/data
-export ROS_BAG_MAX_SIZE=1073741824
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{time}] [{name}:{line_number}]: {message}"
-
-# unitree_ros2
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
-                            <NetworkInterface name="enp118s0" priority="default" multicast="default" />
-                        </Interfaces></General></Domain></CycloneDDS>'
-
-# https://github.com/ament/ament_cmake/issues/382
-PYTHONWARNINGS="ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-export PYTHONWARNINGS
-
-echo '/workspace/logging/coredump/core.%e.%p.%h.%t' | sudo tee /proc/sys/kernel/core_pattern >/dev/null
-
-_show_workspace_logging_usage() {
-  # For each dir under logging workspace, show disk usages.
-  echo "==================================================="
-  echo "Disk usage for each directory under $LOG_WORKSPACE:"
-  for dir in $(find $LOG_WORKSPACE -maxdepth 1 -mindepth 1 -type d); do
-    du -sh $dir
-  done
-  echo "Make sure to clean up old logs to save disk space."
-  echo "==================================================="
-}
-
-_update_dependencies() {
-  source /opt/ros/humble/setup.bash
-  sudo apt-get update
-  cd $ROS_WORKSPACE \
-      && rosdep update \
-      && rosdep install --from-paths src --ignore-src -y
-}
-
-_ensure_not_in_workspace_src() {
-  # If current dir ends with "src", prompt user to switch to workspace dir.
-  # colcon build will stupidly build inside src folder.
-  if [[ "$(basename "$(pwd)")" == "src" ]]; then
-    echo "It looks like you're in a 'src' directory. Please switch to ${ROS_WORKSPACE}."
-    return 1
-  fi
-  return 0
-}
-
-COMMON_CMAKE_ARGS="\
-    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-    -GNinja \
-    -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld \
-    -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld \
-    -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
-    "
-COMMON_COLCON_ARGS="--symlink-install --event-handlers console_cohesion+"
-RELEASE_CMAKE_ARGS="$COMMON_CMAKE_ARGS -DCMAKE_BUILD_TYPE=RelWithDebInfo"
-DEBUG_CMAKE_ARGS="$COMMON_CMAKE_ARGS -DCMAKE_BUILD_TYPE=Debug"
-
-_colcon_release_build() {
-  _ensure_not_in_workspace_src || return 1
-
-  # Run 'colcon build' with passed arguments
-  colcon build \
-      ${COMMON_COLCON_ARGS} \
-      --cmake-args $RELEASE_CMAKE_ARGS \
-      "$@"
-}
-
-_colcon_debug_build() {
-  _ensure_not_in_workspace_src || return 1
-
-  # Run 'colcon build' with passed arguments
-  colcon build \
-      ${COMMON_COLCON_ARGS} \
-      --cmake-args $DEBUG_CMAKE_ARGS \
-      "$@"
-}
-
-_colcon_test() {
-  _ensure_not_in_workspace_src || return 1
-
-  # Run 'colcon test' with passed arguments
-  colcon test --event-handlers console_cohesion+ "$@"
-}
-
-_remove_directories() {
-  if [ -d "build" ]; then
-    rm -r build
-  fi
-  if [ -d "install" ]; then
-    rm -r install
-  fi
-  if [ -d "log" ]; then
-    rm -r log
-  fi
-}
-
-colcon_clean() {
-  _ensure_not_in_workspace_src || return 1
-
-  if [ -d "build" ] || [ -d "install" ] || [ -d "log" ]; then
-    while true; do
-      read -p "Do you wish to remove build, install, and log directories? [y/n] " yn
-      case $yn in
-        [Yy]* ) _remove_directories; break;;
-        [Nn]* ) break;;
-        * ) echo "Please answer yes or no.";;
-      esac
-    done
-  fi
-}
-
-# Colcon build aliases
-alias update_dep=_update_dependencies
-alias source_ws='source install/setup.bash'
-alias colcon_build='_colcon_release_build'
-alias colcon_debug_build='_colcon_debug_build'
-alias colcon_build_package='_colcon_release_build --packages-select'
-alias colcon_debug_build_package='_colcon_debug_build --packages-select'
-alias colcon_build_up_to='_colcon_release_build --packages-up-to'
-alias colcon_debug_build_up_to='_colcon_debug_build --packages-up-to'
-alias colcon_test='_colcon_test'
-alias colcon_test_package='_colcon_test --packages-select'
-alias colcon_test_up_to='_colcon_test --packages-up-to'
-
-source /opt/ros/humble/setup.bash
-# Source ROS workspace if it exists
-if [ -f "/workspace/go2-devcontainer/install/setup.bash" ]; then
-    source /workspace/go2-devcontainer/install/setup.bash
-fi
-
-# colcon_cd
-source /usr/share/colcon_cd/function/colcon_cd.sh
-export _colcon_cd_root=/opt/ros/humble/
-
-_show_workspace_logging_usage

docker/patches/libcudacxx_aarch64_cuda_11_4.diff

@@ -1,28 +0,0 @@
-"""
- SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
- SPDX-License-Identifier: Apache-2.0
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
- http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
-"""
-
---- usr/local/cuda-11.4/targets/aarch64-linux/include/cuda/std/detail/libcxx/include/cmath	2022-11-09 12:28:48.381859565 -0800
-+++ usr/local/cuda-11.4/targets/aarch64-linux/include/cuda/std/detail/libcxx/include/cmath	2022-11-09 12:28:58.021653123 -0800
-@@ -565,7 +565,7 @@
- using ::truncl;
- #endif
-
--#if _LIBCUDACXX_STD_VER > 14 && (defined(_LIBCUDACXX_NO_HOST_CPP17_HYPOT) || !defined(_LIBCUDACXX_COMPILER_NVCC))
-+#if _LIBCUDACXX_STD_VER > 14 && !defined(__cuda_std__)
- inline _LIBCUDACXX_INLINE_VISIBILITY float       hypot(       float x,       float y,       float z ) { return sqrt(x*x + y*y + z*z); }
- inline _LIBCUDACXX_INLINE_VISIBILITY double      hypot(      double x,      double y,      double z ) { return sqrt(x*x + y*y + z*z); }
- #ifdef _LIBCUDACXX_HAS_COMPLEX_LONG_DOUBLE

docker/scripts/install-unitree-ros2.sh

@@ -3,7 +3,7 @@
 set -e
 apt-get install -y ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl 
 
-cd /workspace
+cd ~
 git clone https://github.com/unitreerobotics/unitree_ros2
 cd unitree_ros2/cyclonedds_ws/src
 git clone https://github.com/ros2/rmw_cyclonedds -b humble
@@ -11,4 +11,4 @@ git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
 cd .. 
 colcon build --packages-select cyclonedds
 source /opt/ros/humble/setup.bash 
-colcon build
+colcon build

docker/scripts/install-zed-x86_64.sh

@@ -14,6 +14,10 @@ export CUDA_MINOR="$(nvcc --version | grep -o -P ' release .{0,4}' | cut -d. -f2
 sudo apt-get update -y || true
 sudo apt-get install --no-install-recommends lsb-release wget less udev sudo zstd build-essential cmake libpng-dev libgomp1 -y
 
+# TODO: Remove this when zed-ros2-wrapper has a compatible version with ZED_SDK 4.1 (which supports cuda 12.2).
+CUDA_MAJOR=12
+CUDA_MINOR=1
+
 # Download zed SDK installation RUN file to /tmp directory
 cd /tmp
 wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR}

docker/scripts/workspace-entrypoint.sh

@@ -12,13 +12,14 @@
 echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
 source /opt/ros/${ROS_DISTRO}/setup.bash
 
-sudo apt-get update
-rosdep update
-
 # Restart udev daemon
 sudo service udev restart
-export CMAKE_PREFIX_PATH=/workspace/unitree_ros2/cyclonedds_ws/install/cyclonedds/
+
-python3 -m pip install --upgrade pip
+cd ~
-cd /workspaces/Go2Py/ && python3 -m pip install -e .
+source /realsense-ws/install/setup.bash
-source /home/realsenes-ws/install/setup.bash
+#source $HOME/unitree_ros2/cyclonedds_ws/install/setup.bash
+#export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+#export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
+#                            <NetworkInterface name="enp3s0" priority="default" multicast="default" />
+#                        </Interfaces></General></Domain></CycloneDDS>'
 $@

scripts/.isaac_ros_common-config

@@ -1,2 +1,2 @@
-CONFIG_IMAGE_KEY="ros2_humble.go2py.realsense"
+CONFIG_IMAGE_KEY="ros2_humble.realsense.go2py"
 CONFIG_DOCKER_SEARCH_DIRS=(../docker)

scripts/build_base_image.sh

@@ -1,4 +1,4 @@
-#!/bin/bash -e
+#!/bin/bash
 #
 # Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
 #
@@ -7,196 +7,14 @@
 # and any modifications thereto.  Any use, reproduction, disclosure or
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
+set -e
 
 ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 source $ROOT/utils/print_color.sh
-DOCKER_DIR="${ROOT}/../docker"
 
-function usage() {
+BUILDKIT_DISABLED_STR=""
-    print_info "Usage: build_base_image.sh" {target image, period delimited components, required} {target image name, optional} {disable_build boolean, optional}
+if [[ ! -z "$5" ]]; then
-    print_info "Copyright (c) 2022, NVIDIA CORPORATION."
+    BUILDKIT_DISABLED_STR="--disable_buildkit"
-}
-
-DOCKER_SEARCH_DIRS=(${DOCKER_DIR})
-
-# Read and parse config file if exists
-#
-# CONFIG_DOCKER_SEARCH_DIRS (array, can be empty)
-
-if [[ -f "${ROOT}/.isaac_ros_common-config" ]]; then
-    . "${ROOT}/.isaac_ros_common-config"
-
-    # Prepend configured docker search dirs
-    if [ ${#CONFIG_DOCKER_SEARCH_DIRS[@]} -gt 0 ]; then
-        for (( i=${#CONFIG_DOCKER_SEARCH_DIRS[@]}-1 ; i>=0 ; i-- )); do
-
-            # If the path is relative, then prefix ROOT to the path
-            if [[ "${CONFIG_DOCKER_SEARCH_DIRS[i]}" != /* ]]; then
-                CONFIG_DOCKER_SEARCH_DIRS[$i]="${ROOT}/${CONFIG_DOCKER_SEARCH_DIRS[i]}"
-            fi
-        done
-
-        CONFIG_DOCKER_SEARCH_DIRS+=(${DOCKER_SEARCH_DIRS[@]})
-        DOCKER_SEARCH_DIRS=(${CONFIG_DOCKER_SEARCH_DIRS[@]})
-
-        print_info "Using configured docker search paths: ${DOCKER_SEARCH_DIRS[*]}"
-    fi
 fi
 
-TARGET_IMAGE_STR="$1"
+$ROOT/build_image_layers.sh --image_key "$1" --image_name "$2" --base_image "$3" --context_dir "$4" $BUILDKIT_DISABLED_STR
-if [[ -z "$TARGET_IMAGE_STR" ]]; then
-    print_error "target image not specified"
-    exit 1
-fi
-shift 1
-
-TARGET_IMAGE_NAME="$1"
-if [[ -z "$TARGET_IMAGE_NAME" ]]; then
-    TARGET_IMAGE_NAME="${TARGET_IMAGE_STR//./-}-image"
-    print_warning "Target image name not specified, using ${TARGET_IMAGE_NAME}"
-fi
-shift 1
-
-
-BASE_IMAGE_NAME="$1"
-if [[ -z "$BASE_IMAGE_NAME" ]]; then
-    print_warning "Using base image name not specified, using '${BASE_IMAGE_NAME}'"
-fi
-shift 1
-
-DOCKER_CONTEXT_DIR="$1"
-if [[ -z "$DOCKER_CONTEXT_DIR" ]]; then
-    print_warning "Using docker context dir not specified, using Dockerfile directory"
-fi
-shift 1
-
-DOCKER_BUILDKIT=1
-DISABLE_BUILDKIT_STR="$1"
-if [[ ! -z "$DISABLE_BUILDKIT_STR" ]]; then
-    print_warning "WARNING: Explicitly disabling BuildKit"
-    DOCKER_BUILDKIT=0
-fi
-shift 1
-
-ON_EXIT=()
-function cleanup {
-    for command in "${ON_EXIT[@]}"
-    do
-        $command &>/dev/null
-    done
-}
-trap cleanup EXIT
-
-PLATFORM="$(uname -m)"
-
-# Resolve Dockerfiles by matching target image ids to available files
-TARGET_IMAGE_IDS=(${TARGET_IMAGE_STR//./ })
-IMAGE_IDS=(${TARGET_IMAGE_IDS[@]})
-
-# Loop over components and find largest tail sequences
-# For example, a target image id of 'aarch64.jp5.carter.nav' should match
-# Dockerfiles with suffixes in the following order:
-# ".aarch64.jp5.carter.nav", ".jp5.carter.nav", ".carter.nav", ".nav"
-# If the first file found is ".carter.nav", the matching recurses by then
-# looking for the preceding components ".aarch64.jp5" in the same manner
-
-DOCKERFILES=()
-DOCKERFILE_CONTEXT_DIRS=()
-until [ ${#IMAGE_IDS[@]} -le 0 ]; do
-    UNMATCHED_ID_COUNT=${#IMAGE_IDS[@]}
-
-    for (( i=0; i<${#IMAGE_IDS[@]}; i++ )) do
-        LAYER_IMAGE_IDS=${IMAGE_IDS[@]:i}
-        LAYER_IMAGE_SUFFIX="${LAYER_IMAGE_IDS[@]// /.}"
-
-        for DOCKER_SEARCH_DIR in ${DOCKER_SEARCH_DIRS[@]}; do
-            DOCKERFILE="${DOCKER_SEARCH_DIR}/Dockerfile.${LAYER_IMAGE_SUFFIX}"
-
-            if [[ -f "${DOCKERFILE}" ]]; then
-                DOCKERFILES+=(${DOCKERFILE})
-                DOCKERFILE_CONTEXT_DIRS+=(${DOCKER_SEARCH_DIR})
-                IMAGE_IDS=(${IMAGE_IDS[@]:0:i})
-                break 2
-            fi
-        done
-    done
-
-    if [ ${UNMATCHED_ID_COUNT} -eq ${#IMAGE_IDS[@]} ]; then
-        UNMATCHED_IDS=${IMAGE_IDS[@]}
-        MATCHED_DOCKERFILES=${DOCKERFILES[@]}
-        print_error "Could not resolve Dockerfiles for target image ids: ${UNMATCHED_IDS// /.}"
-
-        if [ ${#DOCKERFILES[@]} -gt 0 ]; then
-            print_warning "Partially resolved the following Dockerfiles for target image: ${TARGET_IMAGE_STR}"
-            for DOCKERFILE in ${DOCKERFILES[@]}; do
-                print_warning "${DOCKERFILE}"
-            done
-        fi
-        exit 1
-    fi
-done
-
-# Arguments for docker build
-BUILD_ARGS+=("--build-arg" "USERNAME="admin"")
-BUILD_ARGS+=("--build-arg" "USER_UID=`id -u`")
-BUILD_ARGS+=("--build-arg" "USER_GID=`id -g`")
-BUILD_ARGS+=("--build-arg" "PLATFORM=$PLATFORM")
-
-# Check if GPU is installed
-if [[ $PLATFORM == "x86_64" ]]; then
-    if type nvidia-smi &>/dev/null; then
-        GPU_ATTACHED=(`nvidia-smi -a | grep "Attached GPUs"`)
-        if [ ! -z $GPU_ATTACHED ]; then
-            BUILD_ARGS+=("--build-arg" "HAS_GPU="true"")
-        fi
-    fi
-fi
-
-print_info "Resolved the following Dockerfiles for target image: ${TARGET_IMAGE_STR}"
-for DOCKERFILE in ${DOCKERFILES[@]}; do
-    print_info "${DOCKERFILE}"
-done
-
-# Build image layers
-for (( i=${#DOCKERFILES[@]}-1 ; i>=0 ; i-- )); do
-    DOCKERFILE=${DOCKERFILES[i]}
-    DOCKERFILE_CONTEXT_DIR=${DOCKERFILE_CONTEXT_DIRS[i]}
-    IMAGE_NAME=${DOCKERFILE#*"/Dockerfile."}
-    IMAGE_NAME="${IMAGE_NAME//./-}-image"
-
-    # Build the base images in layers first
-    BASE_IMAGE_ARG=
-    if [ $i -eq $(( ${#DOCKERFILES[@]} - 1 )) ]; then
-        if [[ ! -z "${BASE_IMAGE_NAME}" ]] ; then
-            BASE_IMAGE_ARG="--build-arg BASE_IMAGE="${BASE_IMAGE_NAME}""
-        fi
-    fi
-
-    if [ $i -lt $(( ${#DOCKERFILES[@]} - 1 )) ]; then
-        BASE_DOCKERFILE=${DOCKERFILES[i+1]}
-        BASE_IMAGE_NAME=${BASE_DOCKERFILE#*"/Dockerfile."}
-        BASE_IMAGE_NAME="${BASE_IMAGE_NAME//./-}-image"
-
-        BASE_IMAGE_ARG="--build-arg BASE_IMAGE="${BASE_IMAGE_NAME}""
-    fi
-
-    # The last image should be the target image name
-    # Use docker context dir script arg only for last image
-    DOCKER_CONTEXT_ARG=${DOCKERFILE_CONTEXT_DIR}
-    if [ $i -eq 0 ]; then
-        IMAGE_NAME=${TARGET_IMAGE_NAME}
-        if [[ ! -z "${DOCKER_CONTEXT_DIR}" ]]; then
-            DOCKER_CONTEXT_ARG=${DOCKER_CONTEXT_DIR}
-        fi
-    fi
-
-    print_warning "Building ${DOCKERFILE} as image: ${IMAGE_NAME} with base: ${BASE_IMAGE_NAME}"
-
-    DOCKER_BUILDKIT=${DOCKER_BUILDKIT} docker build -f ${DOCKERFILE} \
-     --network host \
-     -t ${IMAGE_NAME} \
-     ${BASE_IMAGE_ARG} \
-     "${BUILD_ARGS[@]}" \
-     $@ \
-     ${DOCKER_CONTEXT_ARG}
-done

scripts/build_image_layers.sh

@@ -0,0 +1,342 @@
+#!/bin/bash
+#
+# Copyright (c) 2022-2024, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+set -e
+
+ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+source $ROOT/utils/print_color.sh
+DOCKER_DIR="${ROOT}/../docker"
+
+function usage() {
+    print_info "Usage: ${0##*/}"
+    print_info "Copyright (c) 2024, NVIDIA CORPORATION."
+}
+
+# Initialize arguments
+DOCKER_BUILDKIT=1
+IGNORE_COMPOSITE_KEYS=0
+ADDITIONAL_BUILD_ARGS=()
+DOCKER_SEARCH_DIRS=(${DOCKER_DIR})
+SKIP_REGISTRY_CHECK=0
+BASE_DOCKER_REGISTRY_NAMES=("nvcr.io/isaac/ros")
+
+# Read and parse config file if exists
+#
+# CONFIG_DOCKER_SEARCH_DIRS (array, can be empty)
+
+if [[ -f "${ROOT}/.isaac_ros_common-config" ]]; then
+    . "${ROOT}/.isaac_ros_common-config"
+fi
+
+# Override with config from user home directory if exists
+if [[ -f ~/.isaac_ros_common-config ]]; then
+    . ~/.isaac_ros_common-config
+fi
+
+# Prepend configured docker search dirs
+if [ ${#CONFIG_DOCKER_SEARCH_DIRS[@]} -gt 0 ]; then
+    for (( i=${#CONFIG_DOCKER_SEARCH_DIRS[@]}-1 ; i>=0 ; i-- )); do
+
+        # If the path is relative, then prefix ROOT to the path
+        if [[ "${CONFIG_DOCKER_SEARCH_DIRS[i]}" != /* ]]; then
+            CONFIG_DOCKER_SEARCH_DIRS[$i]="${ROOT}/${CONFIG_DOCKER_SEARCH_DIRS[i]}"
+        fi
+    done
+
+    CONFIG_DOCKER_SEARCH_DIRS+=(${DOCKER_SEARCH_DIRS[@]})
+    DOCKER_SEARCH_DIRS=(${CONFIG_DOCKER_SEARCH_DIRS[@]})
+fi
+
+# Parse command-line args
+VALID_ARGS=$(getopt -o hra:b:c:ki:n:u --long help,skip_registry_check,build_arg:,base_image:,context_dir:,disable_buildkit,image_key:,image_name:,ignore_composite_keys -- "$@")
+eval set -- "$VALID_ARGS"
+while [ : ]; do
+  case "$1" in
+    -a | --build_arg)
+        ADDITIONAL_BUILD_ARGS+=("$2")
+        shift 2
+        ;;
+    -b | --base_image)
+        BASE_IMAGE_NAME="$2"
+        shift 2
+        ;;
+    -c | --context_dir)
+        DOCKER_CONTEXT_DIR="$2"
+        shift 2
+        ;;
+    -k | --disable_buildkit)
+        DOCKER_BUILDKIT=0
+        shift
+        ;;
+    -i | --image_key)
+        TARGET_IMAGE_STR="$2"
+        shift 2
+        ;;
+    -n | --image_name)
+        TARGET_IMAGE_NAME="$2"
+        shift 2
+        ;;
+    -r | --skip_registry_check)
+        SKIP_REGISTRY_CHECK=1
+        shift
+        ;;
+    -y | --ignore_composite_keys)
+        IGNORE_COMPOSITE_KEYS=1
+        shift
+        ;;
+    -h | --help)
+        usage
+        exit 0
+        ;;
+    --) shift;
+        break
+        ;;
+  esac
+done
+
+# Check arguments
+if [[ -z "$TARGET_IMAGE_STR" ]]; then
+    print_error "Target image not specified with -i/--image_key"
+    exit 1
+fi
+
+if [[ -z "$TARGET_IMAGE_NAME" ]]; then
+    TARGET_IMAGE_NAME="${TARGET_IMAGE_STR//./-}-image"
+    print_warning "Target image name not specified, using ${TARGET_IMAGE_NAME}"
+fi
+
+if [[ ! -z "$DOCKER_CONTEXT_DIR" ]]; then
+    DOCKER_SEARCH_DIRS+=($DOCKER_CONTEXT_DIR)
+fi
+
+# Summarize final arguments for script
+print_info "Building layered image for key ${TARGET_IMAGE_STR} as ${TARGET_IMAGE_NAME}"
+if [[ ! -z "${BASE_IMAGE_NAME}" ]]; then
+    print_info "Build image on top of base: |${BASE_IMAGE_NAME}|"
+fi
+
+print_info "Using configured docker search paths: ${DOCKER_SEARCH_DIRS[*]}"
+if [[ ! -z "${DOCKER_CONTEXT_DIR}" ]]; then
+    print_info "Docker context directory for final layer: ${DOCKER_CONTEXT_DIR}"
+fi
+for BUILD_ARG in "${ADDITIONAL_BUILD_ARGS[@]}"
+do
+    print_info "Additional build arg: ${BUILD_ARG}"
+done
+if [[ $DOCKER_BUILDKIT -eq 0 ]]; then
+    print_warning "WARNING: Explicitly disabling BuildKit"
+fi
+
+if [[ $IGNORE_COMPOSITE_KEYS -eq 1 ]]; then
+    print_warning "WARNING: Explicitly disabling matching composite image keys"
+fi
+
+if [[ $SKIP_REGISTRY_CHECK -eq 1  ]]; then
+    print_warning "WARNING: Skipping remote registry check for prebuilt images"
+fi
+
+# Setup on-exit cleanup
+ON_EXIT=()
+function cleanup {
+    for command in "${ON_EXIT[@]}"
+    do
+        $command &>/dev/null
+    done
+}
+trap cleanup EXIT
+
+PLATFORM="$(uname -m)"
+
+# Resolve Dockerfiles by matching target image ids to available files
+TARGET_IMAGE_IDS=(${TARGET_IMAGE_STR//./ })
+IMAGE_IDS=(${TARGET_IMAGE_IDS[@]})
+
+# Loop over components and find largest tail sequences
+# For example, a target image id of 'aarch64.jp5.carter.nav' should match
+# Dockerfiles with suffixes in the following order:
+# ".aarch64.jp5.carter.nav", ".jp5.carter.nav", ".carter.nav", ".nav"
+# If the first file found is ".carter.nav", the matching recurses by then
+# looking for the preceding components ".aarch64.jp5" in the same manner
+DOCKERFILES=()
+DOCKERFILE_CONTEXT_DIRS=()
+until [ ${#IMAGE_IDS[@]} -le 0 ]; do
+    UNMATCHED_ID_COUNT=${#IMAGE_IDS[@]}
+
+    for (( i=0; i<${#IMAGE_IDS[@]}; i++ )) do
+        # Abort matching composite keys if disabled
+        if [[ $IGNORE_COMPOSITE_KEYS -gt 1 && $i -eq 1 ]]; then
+            break
+        fi
+
+        LAYER_IMAGE_IDS=${IMAGE_IDS[@]:i}
+        LAYER_IMAGE_SUFFIX="${LAYER_IMAGE_IDS[@]// /.}"
+
+        for DOCKER_SEARCH_DIR in ${DOCKER_SEARCH_DIRS[@]}; do
+            DOCKERFILE="${DOCKER_SEARCH_DIR}/Dockerfile.${LAYER_IMAGE_SUFFIX}"
+
+            if [[ -f "${DOCKERFILE}" ]]; then
+                DOCKERFILES+=(${DOCKERFILE})
+                DOCKERFILE_CONTEXT_DIRS+=(${DOCKER_SEARCH_DIR})
+                IMAGE_IDS=(${IMAGE_IDS[@]:0:i})
+                break 2
+            fi
+        done
+    done
+
+    if [ ${UNMATCHED_ID_COUNT} -eq ${#IMAGE_IDS[@]} ]; then
+        UNMATCHED_IDS=${IMAGE_IDS[@]}
+        MATCHED_DOCKERFILES=${DOCKERFILES[@]}
+        print_error "Could not resolve Dockerfiles for target image ids: ${UNMATCHED_IDS// /.}"
+
+        if [ ${#DOCKERFILES[@]} -gt 0 ]; then
+            print_warning "Partially resolved the following Dockerfiles for target image: ${TARGET_IMAGE_STR}"
+            for DOCKERFILE in ${DOCKERFILES[@]}; do
+                print_warning "${DOCKERFILE}"
+            done
+        fi
+        exit 1
+    fi
+done
+
+# Find pre-built image if available
+if [[ $SKIP_REGISTRY_CHECK -eq 0 && -z "${BASE_IMAGE_NAME}" ]]; then
+    # Generate the possible base image names to look for from first image key onward
+    BASE_IMAGE_FULLNAMES=()
+    BASE_DOCKERFILES=()
+    BASE_DOCKERFILE_CONTEXT_DIRS=()
+    BASE_IMAGE_DOCKERFILES_INDICES=()
+    for (( i=${#DOCKERFILES[@]}-1 ; i>=0 ; i-- )); do
+        BASE_DOCKERFILES+=(${DOCKERFILES[i]})
+        BASE_DOCKERFILE_CONTEXT_DIRS+=(${DOCKERFILE_CONTEXT_DIRS[i]})
+        BASE_IMAGE_KEYS=()
+
+        DOCKER_HASH_FILE=$(mktemp)
+        ON_EXIT+=("rm -Rf ${DOCKER_HASH_FILE}")
+
+        # Determine hash of all Dockerfiles for this base image name
+        for (( j=0 ; j<${#BASE_DOCKERFILES[@]} ; j++ )); do
+            BASE_DOCKERFILE=${BASE_DOCKERFILES[j]}
+            BASE_DOCKERFILE_CONTEXT_DIR=${BASE_DOCKERFILE_CONTEXT_DIRS[j]}
+            LAYER_IMAGE_SUFFIX=${BASE_DOCKERFILE#*"/Dockerfile."}
+            BASE_IMAGE_KEYS+=(${LAYER_IMAGE_SUFFIX//./ })
+
+            pushd . >/dev/null
+            cd $BASE_DOCKERFILE_CONTEXT_DIR
+            BASE_DOCKERFILE="Dockerfile.${LAYER_IMAGE_SUFFIX}"
+            md5sum ${BASE_DOCKERFILE} >> $DOCKER_HASH_FILE
+            popd >/dev/null
+        done
+        SOURCE_DOCKERFILE_HASH=($(md5sum $DOCKER_HASH_FILE))
+
+        # Determine base image name
+        for (( j=${#BASE_DOCKER_REGISTRY_NAMES[@]}-1 ; j>= 0; j-- )); do
+            BASE_DOCKER_REGISTRY_NAME=${BASE_DOCKER_REGISTRY_NAMES[j]}
+            BASE_IMAGE_TAG=${BASE_IMAGE_KEYS[*]}
+            BASE_IMAGE_TAG=${BASE_IMAGE_TAG// /.}
+            BASE_IMAGE_FULLNAME="${BASE_DOCKER_REGISTRY_NAME}:${BASE_IMAGE_TAG//./-}_${SOURCE_DOCKERFILE_HASH}"
+            BASE_IMAGE_FULLNAMES+=(${BASE_IMAGE_FULLNAME})
+
+            # Remember which index goes with this base image so we can skip those Dockerfiles
+            # if this image exists
+            BASE_IMAGE_DOCKERFILES_INDICES+=($i)
+        done
+    done
+
+    for (( i=${#BASE_IMAGE_FULLNAMES[@]}-1 ; i>=0 ; i-- )); do
+        BASE_IMAGE_FULLNAME=${BASE_IMAGE_FULLNAMES[i]}
+
+        # Check if image exists on remote server
+        print_info "Checking if base image ${BASE_IMAGE_FULLNAME} exists on remote registry"
+        OUTPUT=$(docker manifest inspect ${BASE_IMAGE_FULLNAME} >/dev/null 2>&1 ; echo $?)
+        if [[ ${OUTPUT} -eq 0 ]]; then
+            BASE_IMAGE_NAME=${BASE_IMAGE_FULLNAME}
+            DOCKERFILES=(${DOCKERFILES[@]:0:${BASE_IMAGE_DOCKERFILES_INDICES[i]-1}})
+            print_info "Found pre-built base image: ${BASE_IMAGE_FULLNAME}"
+            docker pull ${BASE_IMAGE_FULLNAME}
+            print_info "Finished pulling pre-built base image: ${BASE_IMAGE_FULLNAME}"
+            break
+        fi
+    done
+fi
+
+# Arguments for docker build
+BUILD_ARGS+=("--build-arg" "USERNAME="admin"")
+BUILD_ARGS+=("--build-arg" "USER_UID=`id -u`")
+BUILD_ARGS+=("--build-arg" "USER_GID=`id -g`")
+BUILD_ARGS+=("--build-arg" "PLATFORM=$PLATFORM")
+
+for BUILD_ARG in ${ADDITIONAL_BUILD_ARGS[@]}
+do
+    BUILD_ARGS+=("--build-arg" "${BUILD_ARG}")
+done
+
+# Check if GPU is installed
+if [[ $PLATFORM == "x86_64" ]]; then
+    GPU_ATTACHED=(`nvidia-smi -a | grep "Attached GPUs" || true`)
+    if [ -z $GPU_ATTACHED ]; then
+        print_warning "No GPU detected! Not setting build args for HAS_GPU"
+    else
+        BUILD_ARGS+=("--build-arg" "HAS_GPU="true"")
+    fi
+fi
+
+if [ ${#DOCKERFILES[@]} -gt 0 ]; then
+    print_info "Resolved the following ${#DOCKERFILES[@]} Dockerfiles for target image: ${TARGET_IMAGE_STR}"
+    for DOCKERFILE in ${DOCKERFILES[@]}; do
+        print_info "${DOCKERFILE}"
+    done
+else
+    docker tag ${BASE_IMAGE_NAME} ${TARGET_IMAGE_NAME}
+    print_info "Nothing to build, retagged ${BASE_IMAGE_NAME} as ${TARGET_IMAGE_NAME}"
+    exit 0
+fi
+
+# Build image layers
+for (( i=${#DOCKERFILES[@]}-1 ; i>=0 ; i-- )); do
+    DOCKERFILE=${DOCKERFILES[i]}
+    DOCKERFILE_CONTEXT_DIR=${DOCKERFILE_CONTEXT_DIRS[i]}
+    IMAGE_NAME=${DOCKERFILE#*"/Dockerfile."}
+    IMAGE_NAME="${IMAGE_NAME//./-}-image"
+
+    # Build the base images in layers first
+    BASE_IMAGE_ARG=
+    if [ $i -eq $(( ${#DOCKERFILES[@]} - 1 )) ]; then
+        if [[ ! -z "${BASE_IMAGE_NAME}" ]] ; then
+            BASE_IMAGE_ARG="--build-arg BASE_IMAGE="${BASE_IMAGE_NAME}""
+        fi
+    fi
+
+    if [ $i -lt $(( ${#DOCKERFILES[@]} - 1 )) ]; then
+        BASE_DOCKERFILE=${DOCKERFILES[i+1]}
+        BASE_IMAGE_NAME=${BASE_DOCKERFILE#*"/Dockerfile."}
+        BASE_IMAGE_NAME="${BASE_IMAGE_NAME//./-}-image"
+
+        BASE_IMAGE_ARG="--build-arg BASE_IMAGE="${BASE_IMAGE_NAME}""
+    fi
+
+    # The last image should be the target image name
+    # Use docker context dir script arg only for last image
+    DOCKER_CONTEXT_ARG=${DOCKERFILE_CONTEXT_DIR}
+    if [ $i -eq 0 ]; then
+        IMAGE_NAME=${TARGET_IMAGE_NAME}
+        if [[ ! -z "${DOCKER_CONTEXT_DIR}" ]]; then
+            DOCKER_CONTEXT_ARG=${DOCKER_CONTEXT_DIR}
+        fi
+    fi
+
+    print_warning "Building ${DOCKERFILE} as image: ${IMAGE_NAME} with base: ${BASE_IMAGE_NAME}"
+
+    DOCKER_BUILDKIT=${DOCKER_BUILDKIT} docker build -f ${DOCKERFILE} \
+     --network host \
+     -t ${IMAGE_NAME} \
+     ${BASE_IMAGE_ARG} \
+     "${BUILD_ARGS[@]}" \
+     $@ \
+     ${DOCKER_CONTEXT_ARG}
+done

scripts/deploy/_Dockerfile.deploy

@@ -0,0 +1,48 @@
+# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+ARG SET_LAUNCH_CMD
+ARG BASE_IMAGE=nvidia/cuda:12.2.2-runtime-ubuntu22.04
+FROM ${BASE_IMAGE} as deploy_base
+
+# Setup entrypoint
+COPY deploy-entrypoint.sh /usr/local/bin/scripts/deploy-entrypoint.sh
+RUN chmod +x /usr/local/bin/scripts/deploy-entrypoint.sh
+ENTRYPOINT [ "/usr/local/bin/scripts/deploy-entrypoint.sh" ]
+
+# Install additional debians
+ARG INSTALL_DEBIANS_CSV
+RUN  --mount=type=cache,target=/var/cache/apt \
+  if [[ ! -z "${INSTALL_DEBIANS_CSV}" ]]; then \
+    apt-get update && apt-get install -y ${INSTALL_DEBIANS_CSV//,/ } ; \
+  fi
+
+# Copy built products into container
+COPY staging/ /
+
+# Switch to non-root user
+USER ${USERNAME:?}
+
+# -----------
+
+FROM deploy_base as deploy_has_launch_0
+# -----------
+
+FROM deploy_base as deploy_has_launch_1
+# Default argument
+ARG LAUNCH_FILE
+ENV LAUNCH_FILE=${LAUNCH_FILE:?}
+
+ARG LAUNCH_PACKAGE
+ENV LAUNCH_PACKAGE=${LAUNCH_PACKAGE:?}
+
+CMD ros2 launch $LAUNCH_PACKAGE $LAUNCH_FILE
+# -----------
+
+
+FROM deploy_has_launch_${SET_LAUNCH_CMD} as final

scripts/deploy/_Dockerfile.deploy_ws

@@ -0,0 +1,21 @@
+# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+ARG BASE_IMAGE=nvidia/cuda:12.2.2-runtime-ubuntu22.04
+FROM ${BASE_IMAGE} as deploy_ros_ws
+
+ARG ROS_WS
+ENV ROS_WS=${ROS_WS:?}
+
+RUN  --mount=type=cache,target=/var/cache/apt \
+. /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update --rosdistro ${ROS_DISTRO} \
+    && rosdep install -y -r \
+      --from-path ${ROS_WS}/install \
+      --rosdistro ${ROS_DISTRO} \
+      --ignore-src \
+      --skip-keys "libyaml-cpp-dev fastcdr rti-connext-dds-6.0.1 rti-connext-dds-5.3.1 urdfdom_headers libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv"

scripts/deploy/_deploy-entrypoint.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+#####################################################################################
+# SPDX-FileCopyrightText: Copyright (c) 2019 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#####################################################################################
+
+
+source ${ROS_ROOT:?}/setup.bash
+
+# Source ROS workspace if exists
+if [[ ! -z "${ROS_WS}" ]]; then
+  source ${ROS_WS}/install/setup.bash
+fi
+
+set -x
+exec "$@"

scripts/docker_deploy.sh

@@ -0,0 +1,261 @@
+#!/bin/bash -e
+#
+# Copyright (c) 2021-2022, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+source $ROOT/utils/print_color.sh
+
+# Builds image (ARG MODE=deploy) with base image key, then layers any roots or debians you specify,
+# then does rosdep install of a ROS WS if you specify one, then layers on suffix image key, and
+# sets a default command to run 'ros2 launch {launch package} {launch file}'
+
+# Example: installs two debians, copies three directories (includes ROS_WS/remaps one), runs package and launch file
+# ./docker_deploy.sh -i "libnvvpi3,tensorrt" -d /workspaces/isaac_ros-dev/tests -d /home/nvidia/scripts:/home/admin/scripts -w /workspaces/isaac_ros-dev/ros_ws -b "aarch64.ros2_humble" -p "isaac_ros_image_proc" -f "isaac_ros_image_flip.launch.py"
+
+# Read and parse config file if exists
+#
+# CONFIG_BASE_IMAGE_KEY (string, can be empty)
+
+if [[ -f "${ROOT}/.isaac_ros_common-config" ]]; then
+    . "${ROOT}/.isaac_ros_common-config"
+fi
+
+# Override with config from user home directory if exists
+if [[ -f ~/.isaac_ros_common-config ]]; then
+    . ~/.isaac_ros_common-config
+fi
+
+INCLUDE_DIRS=()
+INCLUDE_TARBALLS=()
+SET_LAUNCH_CMD=0
+CUSTOM_APT_SOURCES=()
+VALID_ARGS=$(getopt -o w:d:b:n:s:f:p:i:t:a: --long ros_ws:include_dir:base_image_key:name:suffix_image_key:launch_file:launch_package:install_debians:include_tarball:custom_apt_source -- "$@")
+eval set -- "$VALID_ARGS"
+while [ : ]; do
+  case "$1" in
+    -a | --custom_apt_source)
+        CUSTOM_APT_SOURCES+=("$2")
+        shift 2
+        ;;
+    -b | --base_image_key)
+        BASE_IMAGE_KEY="$2"
+        shift 2
+        ;;
+    -d | --include_dir)
+        INCLUDE_DIRS+=("$2")
+        shift 2
+        ;;
+    -f | --launch_file)
+        LAUNCH_FILE="$2"
+        shift 2
+        ;;
+    -i | --install_debians)
+        INSTALL_DEBIANS_CSV="$2"
+        shift 2
+        ;;
+    -n | --name)
+        DEPLOY_IMAGE_NAME="$2"
+        shift 2
+        ;;
+    -p | --launch_package)
+        LAUNCH_PACKAGE="$2"
+        shift 2
+        ;;
+    -s | --suffix_image_key)
+        SUFFIX_IMAGE_KEY="$2"
+        shift 2
+        ;;
+    -t | --include_tarball)
+        INCLUDE_TARBALLS+=("$2")
+        shift 2
+        ;;
+    -w | --ros_ws)
+        ROS_WS="$2"
+        shift 2
+        ;;
+    --) shift;
+        break
+        ;;
+  esac
+done
+
+# Check arguments
+PLATFORM="$(uname -m)"
+
+# Check that both launch file and package are set, or neither
+if [[ ! -z "${LAUNCH_FILE}${LAUNCH_PACKAGE}" ]]; then
+    if [[ -z "${LAUNCH_FILE}" || -z "${LAUNCH_PACKAGE}" ]]; then
+        print_error "Launch package (-p/--launch_package) and launch file (-f/--launch_file) must both be specified or both empty."
+        exit 1
+    fi
+fi
+
+if [[ ! -z "${LAUNCH_FILE}" ]]; then
+    SET_LAUNCH_CMD=1
+fi
+
+if [[ -z "${BASE_IMAGE_KEY}" ]]; then
+    BASE_IMAGE_KEY="${PLATFORM}.ros2_humble"
+    print_warning "Base image key not specified, assuming $BASE_IMAGE_KEY"
+fi
+
+if [[ -z "${DEPLOY_IMAGE_NAME}" ]]; then
+    DEPLOY_IMAGE_NAME="isaac_ros_deploy"
+    print_warning "Deploy image name not specified, assuming $DEPLOY_IMAGE_NAME"
+fi
+
+if [[ ${#CUSTOM_APT_SOURCES[@]} -gt 100 ]]; then
+    print_error "Unable to handle more than 100 custom apt sources."
+    exit 1
+fi
+
+# Always include install directory of ROS workspace
+if [[ ! -z "${ROS_WS}" ]]; then
+    SYMLINKS_IN_INSTALL_SPACE=$(find "${ROS_WS}/install" -type l)
+    if [ -n "${SYMLINKS_IN_INSTALL_SPACE}" ]; then
+        print_warning "Found symlinks in install space. Symlinked install spaces are not supported. Please use an isolated or merge install instead. Symlinks:"
+	    print_warning $SYMLINKS_IN_INSTALL_SPACE
+    fi
+
+    # Resolve ROS_WS_DEST from install directory setup.sh
+    ROS_WS_DEST=/workspaces/isaac_ros-dev
+    FILE_CONTENT=$(< "${ROS_WS}/install/setup.sh")
+    REGEX="_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=([^[:space:]]*)"
+    if [[ $FILE_CONTENT =~ $REGEX ]]; then
+        ROS_WS_DEST="${BASH_REMATCH[1]%/*}"
+    fi
+
+    INCLUDE_DIRS+=( "$ROS_WS/install:${ROS_WS_DEST}/install" )
+fi
+
+# Always suffix .user to base image
+# If the configured key does not have .user, append it last
+if [[ $BASE_IMAGE_KEY != *".user"* ]]; then
+    BASE_IMAGE_KEY="${BASE_IMAGE_KEY}.user"
+fi
+
+# Summarize final arguments for script
+print_info "Building deployable image ${DEPLOY_IMAGE_NAME}"
+print_info "Base image key: |${BASE_IMAGE_KEY}| / suffix image_key: |${SUFFIX_IMAGE_KEY}|"
+if [[ ! -z "${LAUNCH_FILE}" ]]; then
+    print_info "Entrypoint to launch ${LAUNCH_PACKAGE}/${LAUNCH_FILE}"
+fi
+if [[ ! -z "${INSTALL_DEBIANS_CSV}" ]]; then
+    print_info "Installing debians: ${INSTALL_DEBIANS_CSV}"
+fi
+if [[ ! -z "${ROS_WS}" ]]; then
+    print_info "Installing ROS workspace at ${ROS_WS} to ${ROS_WS_DEST}"
+fi
+for INCLUDE_DIR in "${INCLUDE_DIRS[@]}"
+do
+    print_info "Installing directory: ${INCLUDE_DIR}"
+done
+for INCLUDE_TARBALL in "${INCLUDE_TARBALLS[@]}"
+do
+    print_info "Installing tarball: ${INCLUDE_TARBALL}"
+done
+for CUSTOM_APT_SOURCE in "${CUSTOM_APT_SOURCES[@]}"
+do
+    print_info "Adding custom apt source: ${CUSTOM_APT_SOURCE}"
+done
+print_info "Begin building deployable image"
+
+# Setup on-exit cleanup tasks
+ON_EXIT=()
+function cleanup {
+    for command in "${ON_EXIT[@]}"
+    do
+        $command
+    done
+}
+trap cleanup EXIT
+
+pushd . >/dev/null
+cd $ROOT
+ON_EXIT+=("popd")
+
+# Setup staging temp directory
+TEMP_DIR=`mktemp -d -t isaac_ros_deploy_XXXXXXXX`
+ON_EXIT+=("rm -Rf ${TEMP_DIR}")
+
+pushd . >/dev/null
+ON_EXIT+=("popd")
+
+cd $TEMP_DIR
+cp -f $ROOT/deploy/_Dockerfile.deploy ${TEMP_DIR}/Dockerfile.deploy
+cp -f $ROOT/deploy/_Dockerfile.deploy_ws ${TEMP_DIR}/Dockerfile.deploy_ws
+cp -f $ROOT/deploy/_deploy-entrypoint.sh ${TEMP_DIR}/deploy-entrypoint.sh
+
+mkdir -p ${TEMP_DIR}/staging
+
+# Stage directories
+for INCLUDE_DIR in "${INCLUDE_DIRS[@]}"
+do
+    SRC_DIR=${INCLUDE_DIR}
+    DEST_DIR=${INCLUDE_DIR}
+    INCLUDE_DIR_REMAP_ARRAY=(${INCLUDE_DIR//:/ })
+    if [[ ${#INCLUDE_DIR_REMAP_ARRAY[@]} -gt 1 ]]; then
+        SRC_DIR=${INCLUDE_DIR_REMAP_ARRAY[0]}
+        DEST_DIR=${INCLUDE_DIR_REMAP_ARRAY[1]}
+    fi
+
+    print_info "Staging $SRC_DIR->$DEST_DIR"
+    mkdir -p ${TEMP_DIR}/staging/${DEST_DIR#/}
+    rsync -azL ${SRC_DIR}/ ${TEMP_DIR}/staging/${DEST_DIR#/}
+done
+
+# Stage tarballs
+for INCLUDE_TARBALL in "${INCLUDE_TARBALLS[@]}"
+do
+    print_info "Staging tarball $INCLUDE_TARBALL"
+    tar -xzvf $INCLUDE_TARBALL -C ${TEMP_DIR}/staging
+done
+
+# Delete all .git files and credentials
+find $TEMP_DIR -type d -name ".git" | xargs -d '\n' rm -rf
+
+BASE_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-base"
+INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-installed"
+
+# Stage custom apt sources
+for (( i=0; i<${#CUSTOM_APT_SOURCES[@]}; i++ )) do
+    printf -v APT_SOURCE_IDX "%02d" $i
+    CUSTOM_APT_SOURCE_FILE="${TEMP_DIR}/staging/etc/apt/sources.list.d/${APT_SOURCE_IDX}_custom_apt_source"
+    mkdir -p ${CUSTOM_APT_SOURCE_FILE%/*}
+    echo "${CUSTOM_APT_SOURCES[$i]}" >> ${CUSTOM_APT_SOURCE_FILE}
+done
+
+# Build base image
+print_info "Building deploy base image: ${BASE_DEPLOY_IMAGE_NAME} with key ${BASE_IMAGE_KEY}"
+$ROOT/build_image_layers.sh --image_key "${BASE_IMAGE_KEY}" --image_name "${BASE_DEPLOY_IMAGE_NAME}" --build_arg "MODE=deploy"
+
+# Install staged files and setup launch command
+print_info "Building install image with launch file ${LAUNCH_FILE} in package ${LAUNCH_PACKAGE}"
+$ROOT/build_image_layers.sh --image_key "deploy" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${BASE_DEPLOY_IMAGE_NAME}" --context_dir "${TEMP_DIR}" \
+    --build_arg "MODE=deploy" --build_arg "SET_LAUNCH_CMD=${SET_LAUNCH_CMD}" --build_arg "LAUNCH_FILE=${LAUNCH_FILE}" --build_arg "LAUNCH_PACKAGE=${LAUNCH_PACKAGE}" --build_arg "INSTALL_DEBIANS_CSV=${INSTALL_DEBIANS_CSV}"
+
+# Optional, if ROS_WS, install rosdeps
+if [[ ! -z "${ROS_WS}" ]]; then
+    print_info "Building ROS workspace image for path ${ROS_WS}"
+    PREVIOUS_STAGE="${INSTALLED_DEPLOY_IMAGE_NAME}"
+    INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-rosws"
+    $ROOT/build_image_layers.sh --image_key "deploy_ws" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --context_dir "${TEMP_DIR}" --build_arg "MODE=deploy ROS_WS=${ROS_WS_DEST}"
+fi
+
+# Optional, build suffix image if specified
+if [[ ! -z "${SUFFIX_IMAGE_KEY}" ]]; then
+    print_info "Building suffix deploy image for key ${SUFFIX_IMAGE_KEY}"
+    PREVIOUS_STAGE="${INSTALLED_DEPLOY_IMAGE_NAME}"
+    INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-suffix"
+    $ROOT/build_image_layers.sh --image_key "SUFFIX_IMAGE_KEY" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --build_arg "MODE=deploy"
+fi
+
+# Retag last image
+docker tag "${INSTALLED_DEPLOY_IMAGE_NAME}" "${DEPLOY_IMAGE_NAME}"
+print_info "DONE, image: ${DEPLOY_IMAGE_NAME}"

scripts/run_dev.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 #
-# Copyright (c) 2021-2022, NVIDIA CORPORATION.  All rights reserved.
+# Copyright (c) 2021-2024, NVIDIA CORPORATION.  All rights reserved.
 #
 # NVIDIA CORPORATION and its licensors retain all intellectual property
 # and proprietary rights in and to this software, related documentation
@@ -8,14 +8,18 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
+set -e
+
 ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 source $ROOT/utils/print_color.sh
 
 function usage() {
-    print_info "Usage: run_dev.sh" {isaac_ros_dev directory path OPTIONAL}
+    print_info "Usage: run_dev.sh {-d isaac_ros_dev directory path OPTIONAL}"
-    print_info "Copyright (c) 2021-2022, NVIDIA CORPORATION."
+    print_info "Copyright (c) 2021-2024, NVIDIA CORPORATION."
 }
 
+DOCKER_ARGS=()
+
 # Read and parse config file if exists
 #
 # CONFIG_IMAGE_KEY (string, can be empty)
@@ -24,28 +28,57 @@ if [[ -f "${ROOT}/.isaac_ros_common-config" ]]; then
     . "${ROOT}/.isaac_ros_common-config"
 fi
 
-ISAAC_ROS_DEV_DIR="$1"
+# Override with config from user home directory if exists
-if [[ -z "$ISAAC_ROS_DEV_DIR" ]]; then
+if [[ -f ~/.isaac_ros_common-config ]]; then
-    ISAAC_ROS_DEV_DIR_DEFAULTS=("$HOME/workspaces/Go2Py" "/workspaces/Go2Py")
+    . ~/.isaac_ros_common-config
-    for ISAAC_ROS_DEV_DIR in "${ISAAC_ROS_DEV_DIR_DEFAULTS[@]}"
-    do
-        if [[ -d "$ISAAC_ROS_DEV_DIR" ]]; then
-            break
-        fi
-    done
-
-    if [[ ! -d "$ISAAC_ROS_DEV_DIR" ]]; then
-        ISAAC_ROS_DEV_DIR=$(realpath "$ROOT/../")
-    fi
-    print_warning "isaac_ros_dev not specified, assuming $ISAAC_ROS_DEV_DIR"
-else
-    if [[ ! -d "$ISAAC_ROS_DEV_DIR" ]]; then
-        print_error "Specified isaac_ros_dev does not exist: $ISAAC_ROS_DEV_DIR"
-        exit 1
-    fi
-    shift 1
 fi
 
+# Parse command-line args
+IMAGE_KEY=ros2_humble.realsense.go2py
+
+# Pick up config image key if specified
+if [[ ! -z "${CONFIG_IMAGE_KEY}" ]]; then
+    IMAGE_KEY=$CONFIG_IMAGE_KEY
+fi
+
+ISAAC_ROS_DEV_DIR="${ISAAC_ROS_WS}"
+SKIP_IMAGE_BUILD=0
+VERBOSE=0
+VALID_ARGS=$(getopt -o hvd:i:ba: --long help,verbose,isaac_ros_dev_dir:,image_key_suffix:,skip_image_build,docker_arg: -- "$@")
+eval set -- "$VALID_ARGS"
+while [ : ]; do
+  case "$1" in
+    -d | --isaac_ros_dev_dir)
+        ISAAC_ROS_DEV_DIR="$2"
+        shift 2
+        ;;
+    -i | --image_key)
+        IMAGE_KEY="$2"
+        shift 2
+        ;;
+    -b | --skip_image_build)
+        SKIP_IMAGE_BUILD=1
+        shift
+        ;;
+    -a | --docker_arg)
+        DOCKER_ARGS+=("$2")
+        shift 2
+        ;;
+    -v | --verbose)
+        VERBOSE=1
+        shift
+        ;;
+    -h | --help)
+        usage
+        exit 0
+        ;;
+    --) shift;
+        break
+        ;;
+  esac
+done
+
+# Setup on-exit traps
 ON_EXIT=()
 function cleanup {
     for command in "${ON_EXIT[@]}"
@@ -59,6 +92,28 @@ pushd . >/dev/null
 cd $ROOT
 ON_EXIT+=("popd")
 
+# Fall back if isaac_ros_dev_dir not specified
+if [[ -z "$ISAAC_ROS_DEV_DIR" ]]; then
+    ISAAC_ROS_DEV_DIR_DEFAULTS=("$HOME/workspaces/isaac_ros-dev" "/workspaces/isaac_ros-dev" "/mnt/nova_ssd/workspaces/isaac_ros-dev")
+    for ISAAC_ROS_DEV_DIR in "${ISAAC_ROS_DEV_DIR_DEFAULTS[@]}"
+    do
+        if [[ -d "$ISAAC_ROS_DEV_DIR" ]]; then
+            break
+        fi
+    done
+
+    if [[ ! -d "$ISAAC_ROS_DEV_DIR" ]]; then
+        ISAAC_ROS_DEV_DIR=$(realpath "$ROOT/../")
+    fi
+    print_warning "isaac_ros_dev not specified, assuming $ISAAC_ROS_DEV_DIR"
+fi
+
+# Validate isaac_ros_dev_dir
+if [[ ! -d "$ISAAC_ROS_DEV_DIR" ]]; then
+    print_error "Specified isaac_ros_dev does not exist: $ISAAC_ROS_DEV_DIR"
+    exit 1
+fi
+
 # Prevent running as root.
 if [[ $(id -u) -eq 0 ]]; then
     print_error "This script cannot be executed with root privileges."
@@ -85,7 +140,7 @@ fi
 # Check if git-lfs is installed.
 git lfs &>/dev/null
 if [[ $? -ne 0 ]] ; then
-    print_error "git-lfs is not installed. Please make sure git-lfs is installed before you clone the repo."
+    print_error "git-lfs is not insalled. Please make sure git-lfs is installed before you clone the repo."
     exit 1
 fi
 
@@ -97,37 +152,14 @@ if [[ $? -eq 0 ]]; then
     for (( i=0; i<${#LFS_FILES_STATUS}; i++ )); do
         f="${LFS_FILES_STATUS:$i:1}"
         if [[ "$f" == "-" ]]; then
-            print_error "LFS files are missing. Please re-clone the repo after installing git-lfs."
+            print_error "LFS files are missing. Please re-clone repos after installing git-lfs."
             exit 1
         fi
     done
 fi
 
+# Determine base image key
 PLATFORM="$(uname -m)"
-
-# BASE_NAME="isaac_ros_dev-$PLATFORM"
-BASE_NAME="go2py-isaac-ros"
-CONTAINER_NAME="go2py-isaac-ros-container"
-# CONTAINER_NAME="$BASE_NAME-container"
-
-# Remove any exited containers.
-if [ "$(docker ps -a --quiet --filter status=exited --filter name=$CONTAINER_NAME)" ]; then
-    docker rm $CONTAINER_NAME > /dev/null
-fi
-
-# Reuse existing container.
-if [ "$(docker ps -a --quiet --filter status=running --filter name=$CONTAINER_NAME)" ]; then
-    print_info "Attaching to running container: $CONTAINER_NAME"
-    docker exec -i -t -u admin --workdir /workspaces/Go2Py $CONTAINER_NAME /bin/bash $@
-    exit 0
-fi
-
-# Build image
-IMAGE_KEY=ros2_humble
-if [[ ! -z "${CONFIG_IMAGE_KEY}" ]]; then
-    IMAGE_KEY=$CONFIG_IMAGE_KEY
-fi
-
 BASE_IMAGE_KEY=$PLATFORM.user
 if [[ ! -z "${IMAGE_KEY}" ]]; then
     BASE_IMAGE_KEY=$PLATFORM.$IMAGE_KEY
@@ -138,11 +170,56 @@ if [[ ! -z "${IMAGE_KEY}" ]]; then
     fi
 fi
 
-print_info "Building $BASE_IMAGE_KEY base as image: $BASE_NAME using key $BASE_IMAGE_KEY"
+# Check skip image build from env
-$ROOT/build_base_image.sh $BASE_IMAGE_KEY $BASE_NAME '' '' ''
+if [[ ! -z $SKIP_DOCKER_BUILD ]]; then
+    SKIP_IMAGE_BUILD=1
+fi
 
-if [ $? -ne 0 ]; then
+# Check skip image build from config
-    print_error "Failed to build base image: $BASE_NAME, aborting."
+if [[ ! -z $CONFIG_SKIP_IMAGE_BUILD ]]; then
+    SKIP_IMAGE_BUILD=1
+fi
+
+BASE_NAME="go2py_isaac_ros_dev-$PLATFORM"
+if [[ ! -z "$CONFIG_CONTAINER_NAME_SUFFIX" ]] ; then
+    BASE_NAME="$BASE_NAME-$CONFIG_CONTAINER_NAME_SUFFIX"
+fi
+CONTAINER_NAME="$BASE_NAME-container"
+
+# Remove any exited containers.
+if [ "$(docker ps -a --quiet --filter status=exited --filter name=$CONTAINER_NAME)" ]; then
+    docker rm $CONTAINER_NAME > /dev/null
+fi
+
+# Re-use existing container.
+if [ "$(docker ps -a --quiet --filter status=running --filter name=$CONTAINER_NAME)" ]; then
+    print_info "Attaching to running container: $CONTAINER_NAME"
+    docker exec -i -t -u admin --workdir /workspaces/isaac_ros-dev $CONTAINER_NAME /bin/bash $@
+    exit 0
+fi
+
+# Summarize launch
+print_info "Launching Isaac ROS Dev container with image key ${BASE_IMAGE_KEY}: ${ISAAC_ROS_DEV_DIR}"
+
+# Build imag to launch
+if [[ $SKIP_IMAGE_BUILD -ne 1 ]]; then
+    print_info "Building $BASE_IMAGE_KEY base as image: $BASE_NAME"
+   $ROOT/build_image_layers.sh --image_key "$BASE_IMAGE_KEY" --image_name "$BASE_NAME"
+
+    # Check result
+    if [ $? -ne 0 ]; then
+        if [[ -z $(docker image ls --quiet $BASE_NAME) ]]; then
+            print_error "Building image failed and no cached image found for $BASE_NAME, aborting."
+            exit 1
+        else
+            print_warning "Unable to build image, but cached image found."
+        fi
+    fi
+fi
+
+# Check image is available
+if [[ -z $(docker image ls --quiet $BASE_NAME) ]]; then
+    print_error "No built image found for $BASE_NAME, aborting."
     exit 1
 fi
 
@@ -155,24 +232,16 @@ DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all")
 DOCKER_ARGS+=("-e FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml")
 DOCKER_ARGS+=("-e ROS_DOMAIN_ID")
 DOCKER_ARGS+=("-e USER")
+DOCKER_ARGS+=("-e ISAAC_ROS_WS=/workspaces/isaac_ros-dev")
 
 if [[ $PLATFORM == "aarch64" ]]; then
     DOCKER_ARGS+=("-v /usr/bin/tegrastats:/usr/bin/tegrastats")
-    DOCKER_ARGS+=("-v /tmp/argus_socket:/tmp/argus_socket")
+    DOCKER_ARGS+=("-v /tmp/:/tmp/")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libcusolver.so.11:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libcusolver.so.11")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libcusparse.so.11:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libcusparse.so.11")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libcurand.so.10:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libcurand.so.10")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libcufft.so.10:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libcufft.so.10")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libnvToolsExt.so:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libnvToolsExt.so")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libcupti.so.11.4:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libcupti.so.11.4")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/lib/libcudla.so.1:/usr/local/cuda-11.4/targets/aarch64-linux/lib/libcudla.so.1")
-    DOCKER_ARGS+=("-v /usr/local/cuda-11.4/targets/aarch64-linux/include/nvToolsExt.h:/usr/local/cuda-11.4/targets/aarch64-linux/include/nvToolsExt.h")
     DOCKER_ARGS+=("-v /usr/lib/aarch64-linux-gnu/tegra:/usr/lib/aarch64-linux-gnu/tegra")
     DOCKER_ARGS+=("-v /usr/src/jetson_multimedia_api:/usr/src/jetson_multimedia_api")
-    DOCKER_ARGS+=("-v /opt/nvidia/nsight-systems-cli:/opt/nvidia/nsight-systems-cli")
     DOCKER_ARGS+=("--pid=host")
-    DOCKER_ARGS+=("-v /opt/nvidia/vpi2:/opt/nvidia/vpi2")
+    DOCKER_ARGS+=("-v /usr/share/vpi3:/usr/share/vpi3")
-    DOCKER_ARGS+=("-v /usr/share/vpi2:/usr/share/vpi2")
+    DOCKER_ARGS+=("-v /dev/input:/dev/input")
 
     # If jtop present, give the container access
     if [[ $(getent group jtop) ]]; then
@@ -183,10 +252,20 @@ if [[ $PLATFORM == "aarch64" ]]; then
 fi
 
 # Optionally load custom docker arguments from file
-DOCKER_ARGS_FILE="$ROOT/.isaac_ros_dev-dockerargs"
+if [[ -z "${DOCKER_ARGS_FILE}" ]]; then
-if [[ -f "$DOCKER_ARGS_FILE" ]]; then
+    DOCKER_ARGS_FILE=".isaac_ros_dev-dockerargs"
-    print_info "Using additional Docker run arguments from $DOCKER_ARGS_FILE"
+fi
-    readarray -t DOCKER_ARGS_FILE_LINES < $DOCKER_ARGS_FILE
+
+# Check for dockerargs file in home directory, then locally in root
+if [[ -f ~/${DOCKER_ARGS_FILE} ]]; then
+    DOCKER_ARGS_FILEPATH=`realpath ~/${DOCKER_ARGS_FILE}`
+elif [[ -f "${ROOT}/${DOCKER_ARGS_FILE}" ]]; then
+    DOCKER_ARGS_FILEPATH="${ROOT}/${DOCKER_ARGS_FILE}"
+fi
+
+if [[ -f "${DOCKER_ARGS_FILEPATH}" ]]; then
+    print_info "Using additional Docker run arguments from $DOCKER_ARGS_FILEPATH"
+    readarray -t DOCKER_ARGS_FILE_LINES < $DOCKER_ARGS_FILEPATH
     for arg in "${DOCKER_ARGS_FILE_LINES[@]}"; do
         DOCKER_ARGS+=($(eval "echo $arg | envsubst"))
     done
@@ -194,18 +273,19 @@ fi
 
 # Run container from image
 print_info "Running $CONTAINER_NAME"
+if [[ $VERBOSE -eq 1 ]]; then
+    set -x
+fi
 docker run -it --rm \
     --privileged \
     --network host \
     ${DOCKER_ARGS[@]} \
-    -v $ISAAC_ROS_DEV_DIR:/workspaces/Go2Py \
+    -v $ISAAC_ROS_DEV_DIR:/workspaces/isaac_ros-dev \
-    -v /dev/*:/dev/* \
     -v /etc/localtime:/etc/localtime:ro \
     --name "$CONTAINER_NAME" \
     --runtime nvidia \
     --user="admin" \
     --entrypoint /usr/local/bin/scripts/workspace-entrypoint.sh \
-    --workdir /workspaces/Go2Py \
+    --workdir /workspaces/isaac_ros-dev \
-    $@ \
     $BASE_NAME \
     /bin/bash