Adding rolling cuda image (#536)

—-
Co-authored-by: elsayedelsheikh <[email protected]>
Co-authored-by: Allison Thackston <[email protected]>

.github/workflows/docker.yml

@@ -76,6 +76,22 @@ jobs:
             tag: rolling
             target: gazebo
             platforms: "linux/amd64"
+          - label: ros2
+            tag: rolling-cuda
+            target: base
+            platforms: "linux/amd64"
+          - label: ros2
+            tag: rolling-cuda
+            target: dev
+            platforms: "linux/amd64"
+          - label: ros2
+            tag: rolling-cuda
+            target: full
+            platforms: "linux/amd64"
+          - label: ros2
+            tag: rolling-cuda
+            target: gazebo
+            platforms: "linux/amd64"
           - label: ros2
             tag: jazzy
             target: base

.vscode/tasks.json

@@ -89,6 +89,7 @@
       "options": [
         "noetic",
         "rolling",
+        "rolling-cuda",
         "jazzy",
         "iron",
         "iron-cuda",

ros2/README.md

@@ -21,6 +21,13 @@ rolling
 * [rolling-full](https://github.com/athackst/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-gazebo](https://github.com/athackst/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 
+rolling-cuda
+
+* [rolling-cuda-base](https://github.com/athackst/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
+* [rolling-cuda-dev](https://github.com/athackst/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
+* [rolling-cuda-full](https://github.com/athackst/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
+* [rolling-cuda-gazebo](https://github.com/athackst/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
+
 jazzy
 
 * [jazzy-base](https://github.com/athackst/dockerfiles/blob/main/ros2/jazzy.Dockerfile)

ros2/rolling-cuda.Dockerfile

@@ -0,0 +1,153 @@
+##############################################
+# Created from template ros2.dockerfile.jinja
+##############################################
+
+###########################################
+# Base image
+###########################################
+FROM nvidia/cuda:12.6.2-cudnn-runtime-ubuntu24.04 AS base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y \
+  locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && export DEBIAN_FRONTEND=noninteractive \
+  && apt-get update \
+  && apt-get install -y tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get -y upgrade \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install common programs
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    gnupg2 \
+    lsb-release \
+    sudo \
+    software-properties-common \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2
+RUN sudo add-apt-repository universe \
+  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+  && apt-get update && apt-get install -y --no-install-recommends \
+    ros-rolling-ros-base \
+    python3-argcomplete \
+  && rm -rf /var/lib/apt/lists/*
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+ && apt-get install -y -qq --no-install-recommends \
+  libglvnd0 \
+  libgl1 \
+  libglx0 \
+  libegl1 \
+  libxext6 \
+  libx11-6
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QT_X11_NO_MITSHM=1
+
+ENV ROS_DISTRO=rolling
+ENV AMENT_PREFIX_PATH=/opt/ros/rolling
+ENV COLCON_PREFIX_PATH=/opt/ros/rolling
+ENV LD_LIBRARY_PATH=/opt/ros/rolling/lib/x86_64-linux-gnu:/opt/ros/rolling/lib
+ENV PATH=/opt/ros/rolling/bin:$PATH
+ENV PYTHONPATH=/opt/ros/rolling/local/lib/python3.12/dist-packages:/opt/ros/rolling/lib/python3.12/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+ENV ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
+ENV DEBIAN_FRONTEND=
+###########################################
+#  Develop image
+###########################################
+FROM base AS dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  bash-completion \
+  build-essential \
+  cmake \
+  gdb \
+  git \
+  openssh-client \
+  python3-argcomplete \
+  python3-pip \
+  ros-dev-tools \
+  ros-rolling-ament-* \
+  vim \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN rosdep init || echo "rosdep already initialized"
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Check if "ubuntu" user exists, delete it if it does, then create the desired user
+RUN if getent passwd ubuntu > /dev/null 2>&1; then \
+        userdel -r ubuntu && \
+        echo "Deleted existing ubuntu user"; \
+    fi && \
+    groupadd --gid $USER_GID $USERNAME && \
+    useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME && \
+    echo "Created new user $USERNAME"
+
+# Add sudo support for the non-root user
+RUN apt-get update && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/*
+
+ENV DEBIAN_FRONTEND=
+ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
+
+###########################################
+#  Full image
+###########################################
+FROM dev AS full
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install the full release
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  ros-rolling-desktop \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+ENV LD_LIBRARY_PATH=/opt/ros/rolling/lib
+
+###########################################
+#  Full+Gazebo image
+###########################################
+FROM full AS gazebo
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install gazebo
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+  && apt-get update && apt-get install -q -y --no-install-recommends \
+    ros-rolling-ros-gz \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=

templates.yml

@@ -78,6 +78,21 @@ ros2:
     python_version: "3.12"
     base_image: "ubuntu"
     image_version: "24.04"
+  -
+    name: rolling-cuda
+    ros_distro: rolling
+    targets:
+      - target: base
+        platforms: "linux/amd64"
+      - target: dev
+        platforms: "linux/amd64"
+      - target: full
+        platforms: "linux/amd64"
+      - target: gazebo
+        platforms: "linux/amd64"
+    python_version: "3.12"
+    base_image: "nvidia/cuda"
+    image_version: "12.6.2-cudnn-runtime-ubuntu24.04"
   -
     name: jazzy
     ros_distro: jazzy