Xavier-NX-R32.7.1-cuda-torch-tensorrt-ros-melodic.dockerfile

# =============================================================================
# Created on Mon Jun 12 2023 18:34:46
# Author: Mukai (Tom Notch) Yu
# Email: mukaiy@andrew.cmu.edu
# Affiliation: Carnegie Mellon University, Robotics Institute, the AirLab
#
# Copyright Ⓒ 2023 Mukai (Tom Notch) Yu
# =============================================================================

FROM --platform=linux/arm64 nvcr.io/nvidia/l4t-ml:r32.7.1-py3
ENV HOME_FOLDER=/root
WORKDIR ${HOME_FOLDER}/

# Fix apt install stuck problem
ENV DEBIAN_FRONTEND=noninteractive
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections

# update all obsolete packages to latest, install sudo, and cleanup
RUN apt update -o Acquire::Check-Valid-Until=false -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngradeToInsecureRepositories=true && \
    apt full-upgrade -y && \
    apt install -y sudo && \
    apt autoremove -y && \
    apt autoclean -y

# fix local time problem
RUN apt install -y tzdata && \
    ln -fs /usr/share/zoneinfo/America/New_York /etc/localtime && \
    dpkg-reconfigure --frontend noninteractive tzdata

# install python3 and pip3
RUN apt install -y python3-dev python3-pip python3-setuptools python3-wheel && \
    pip3 install --upgrade pip

# install python2 and pip2
RUN apt install -y python-dev python-pip python-setuptools python-wheel && \
    pip2 install --upgrade pip

# set default python version to 2
RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1 && \
    update-alternatives --install /usr/bin/python python /usr/bin/python2 2

# set default pip version to pip2
RUN update-alternatives --install /usr/bin/pip pip /usr/bin/pip3 1 && \
    update-alternatives --install /usr/bin/pip pip /usr/bin/pip2 2

# install some goodies
RUN apt install -y lsb-release apt-utils software-properties-common zsh unzip ncdu git less screen tmux tmuxp tree locate perl net-tools vim nano emacs htop curl wget build-essential ffmpeg

# Install python3.8 for pre-commit
RUN add-apt-repository -y ppa:deadsnakes/ppa && \
    apt install -y python3.8 python3.8-dev python3.8-distutils && \
    python3.8 -m pip install pre-commit

# Install clang, llvm
#! clang-8 is the latest stable and only supported version by nvcc on Jetson ubuntu 18.04
RUN apt install -y clang-8 llvm-8 lld-8 lldb-8 lld-8 clang-format-8 clang-tidy-8 clang-tools-8 --install-recommends && \
    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-8 100 && \
    update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 && \
    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-8 100 && \
    update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100 && \
    update-alternatives --install /usr/bin/ld.lld ld.lld /usr/bin/ld.lld-8 100 && \
    update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 100 && \
    update-alternatives --install /usr/bin/ld ld /usr/bin/aarch64-linux-gnu-ld 50

# upgrade cmake to kitware official apt repo release version
RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null && \
    apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" && \
    apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 6AF7F09730B3F0A4 && \
    apt update -o Acquire::Check-Valid-Until=false -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngradeToInsecureRepositories=true && \
    apt install -y kitware-archive-keyring && \
    apt upgrade -y cmake && \
    apt autoremove -y

# install jtop
RUN sudo pip3 install -U jetson-stats

# copy all config files to home folder
COPY --from=home-folder-config ./. ${HOME_FOLDER}/

# install zsh, Oh-My-Zsh, and plugins
RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/latest/download/zsh-in-docker.sh)" -- \
    -t https://github.com/romkatv/powerlevel10k \
    -p git \
    -p https://github.com/zsh-users/zsh-autosuggestions \
    -p https://github.com/zsh-users/zsh-completions \
    -p https://github.com/zsh-users/zsh-syntax-highlighting \
    -p https://github.com/CraigCarey/gstreamer-tab \
    -a "[[ ! -f ${HOME_FOLDER}/.p10k.zsh ]] || source ${HOME_FOLDER}/.p10k.zsh" \
    -a "bindkey -M emacs '^[[3;5~' kill-word" \
    -a "bindkey '^H' backward-kill-word" \
    -a "autoload -U compinit && compinit" \
    -a "export LD_LIBRARY_PATH=/opt/nvidia/vpi1/lib64:/usr/local/lib/python3.6/dist-packages/torch/lib:/usr/local/lib/python3.6/dist-packages/torch_tensorrt/lib:${LD_LIBRARY_PATH}"

# Append VPI 1, libtorch, TensorRT, torch_tensorrt library path to LD_LIBRARY_PATH in bashrc
RUN echo "export LD_LIBRARY_PATH=/opt/nvidia/vpi1/lib64:/usr/local/lib/python3.6/dist-packages/torch/lib:/usr/local/lib/python3.6/dist-packages/torch_tensorrt/lib:${LD_LIBRARY_PATH}" >> ${HOME_FOLDER}/.bashrc

# change default shell for the $USER in the image building process for extra environment safety
RUN chsh -s $(which zsh)
SHELL [ "/bin/zsh", "-c" ]

#! Install ROS melodic
# remove the conflicting opencv 4.5.0 (with CUDA) pre-installed in the base image
RUN apt purge -y opencv-dev opencv-libs opencv-licenses opencv-main opencv-python opencv-scripts --autoremove

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    apt update -o Acquire::Check-Valid-Until=false -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngradeToInsecureRepositories=true && \
    apt install -y ros-melodic-desktop-full && \
    echo "source /opt/ros/melodic/setup.zsh" >> ${HOME_FOLDER}/.zshrc && \
    echo "source /opt/ros/melodic/setup.bash" >> ${HOME_FOLDER}/.bashrc && \
    apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool python-catkin-tools ros-melodic-rosmon && \
    rosdep init && \
    rosdep update

# mark-hold on libopencv-dev to 3.2
RUN apt-mark hold libopencv-dev

# install libv4l-dev, v4l-utils, and libgstreamer1.0-dev
RUN apt install -y libv4l-dev v4l-utils libgstreamer1.0-dev

#! add L4T R32.7.* apt repo, t194 is the xavier nx specific repo
RUN apt install -y gnupg && \
    apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc && \
    apt install -y software-properties-common && \
    add-apt-repository 'deb https://repo.download.nvidia.com/jetson/common r32.7 main' && \
    add-apt-repository 'deb https://repo.download.nvidia.com/jetson/t194 r32.7 main' && \
    apt update

# Install VPI 1
RUN apt install -y nvidia-vpi

# Install TensorRT
RUN apt install -y nvidia-tensorrt

# Install Ceres Solver from source
RUN apt install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev && \
    git clone --recursive https://github.com/ceres-solver/ceres-solver.git ${HOME_FOLDER}/ceres-solver -b 2.0.0 && \
    mkdir -p ${HOME_FOLDER}/ceres-solver/build && \
    cd ${HOME_FOLDER}/ceres-solver/build && \
    cmake .. && \
    make -j$(($(nproc)-1)) && \
    make install && \
    rm -rf ${HOME_FOLDER}/ceres-solver

# Install DBoW2 from source
RUN git clone --recursive https://github.com/dorian3d/DBoW2.git ${HOME_FOLDER}/DBoW2 && \
    mkdir -p ${HOME_FOLDER}/DBoW2/build && \
    cd ${HOME_FOLDER}/DBoW2/build && \
    cmake .. && \
    make -j$(($(nproc)-1)) && \
    make install && \
    rm -rf ${HOME_FOLDER}/DBoW2

# end of apt installs
RUN apt full-upgrade -y && \
    apt autoremove -y && \
    apt autoclean -y && \
    apt clean -y && \
    rm -rf /var/lib/apt/lists/*

# Fix flann lz4 bug, https://github.com/ethz-asl/lidar_align/issues/16#issuecomment-504348488
RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak && \
    mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak && \
    ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h && \
    ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

# Patch bug introduced by libtorch: not prepending namespace c10:: to nullopt and optional< > in some files
RUN perl -pi -e 's/(?<!c10::)optional</c10::optional</g; s/(?<!c10::)nullopt/c10::nullopt/g' /usr/local/lib/python3.6/dist-packages/torch/include/ATen/DeviceGuard.h /usr/local/lib/python3.6/dist-packages/torch/include/ATen/Functions.h

# Install Bazel, prepare for building Torch-TensorRT outside dockerfile
ENV BAZEL_VERSION=4.2.1
RUN wget -q https://github.com/bazelbuild/bazel/releases/download/$BAZEL_VERSION/bazel-$BAZEL_VERSION-linux-arm64 -O /usr/bin/bazel && \
    chmod a+x /usr/bin/bazel

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=all

# Entrypoint command
ENTRYPOINT [ "/bin/zsh", "-c", "source /root/.zshrc; zsh" ]