Add CUDA installation scripts and update Dockerfile for ROS 2 Jazzy (#270)

* Add CUDA installation scripts and update Dockerfile for ROS 2 Jazzy

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

* Add CUDA installation step to Dockerfile

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

* WIP

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

* Add rosdep initialization step in Dockerfile

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

* WIP

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

* try without extra packages

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

---------

Signed-off-by: Max Waterhout <max.waterhout@hotmail.nl>

Author: MaxWaterhout

dockerfiles/general/pre_install.dockerfile

@@ -3,7 +3,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 #Pull the base image:
-FROM osrf/ros:jazzy-desktop
+FROM nvidia/cuda:12.9.1-devel-ubuntu24.04 AS base
 ARG COLCON_BUILD_SEQUENTIAL
 ENV UNAME=rcdt
 ENV UID=1000
@@ -20,5 +20,4 @@ RUN apt update
 
 # Create bashrc file:
 RUN echo "if test -f ~/.personal.bashrc; then\nsource ~/.personal.bashrc\nfi" >> /home/$UNAME/.bashrc
-RUN echo "if test -f ~/.env; then\nset -a && source ~/.env && set +a\nfi" >> /home/$UNAME/.bashrc
-RUN echo "source /opt/ros/jazzy/setup.bash" >> /home/$UNAME/.bashrc
+RUN echo "if test -f ~/.env; then\nset -a && source ~/.env && set +a\nfi" >> /home/$UNAME/.bashrc

dockerfiles/install_scripts/ros2_jazzy.sh

@@ -0,0 +1,27 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
+apt install -y software-properties-common
+add-apt-repository universe
+
+apt update && apt install -y curl
+export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
+curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
+dpkg -i /tmp/ros2-apt-source.deb
+
+apt-get update
+apt-get install -y --no-install-recommends \
+  ros-dev-tools \
+  ros-jazzy-desktop
+
+rosdep init 
+rosdep update
+
+echo "source /opt/ros/jazzy/setup.bash" >> /home/$UNAME/.bashrc

dockerfiles/rcdt_robotics.Dockerfile

@@ -5,6 +5,9 @@
 
 INCLUDE ./general/pre_install.dockerfile
 
+COPY ./install_scripts/ros2_jazzy.sh .
+RUN ./ros2_jazzy.sh
+
 COPY ./install_scripts/core_packages.sh .
 RUN ./core_packages.sh