[DO NOT MERGE] Docker config for carma-base to be built in ARM with ROS2 Humble for C1T

Dockerfile

@@ -14,8 +14,8 @@
 
 # CARMA Base Image Docker Configuration Script
 
-# The parent docker image has CUDA support since some modules use GPU-based acceleration
-FROM nvidia/cudagl:11.2.0-devel-ubuntu20.04
+# The parent docker image with ROS Humble built for the Jetson Xavier
+FROM dustynv/ros:humble-ros-base-l4t-r35.1.0
 
 # Define arguments which are used in the following metadata definition
 ARG BUILD_DATE="NULL"
@@ -25,133 +25,14 @@ ARG VCS_REF="NULL"
 # Specify docker image metadata
 LABEL org.label-schema.schema-version="1.0"
 LABEL org.label-schema.name="carma-base"
-LABEL org.label-schema.description="Base operating system install for the CARMA Platform"
+LABEL org.label-schema.description="Base operating system install for the CARMA Platform on ARM architecture"
 LABEL org.label-schema.vendor="Leidos"
 LABEL org.label-schema.version=${VERSION}
 LABEL org.label-schema.url="https://highways.dot.gov/research/research-programs/operations/CARMA"
 LABEL org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-platform"
 LABEL org.label-schema.vcs-ref=${VCS_REF}
 LABEL org.label-schema.build-date=${BUILD_DATE}
 
-# Specify which platform GPUs are available inside the container
-ENV NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all} \
-        # Specify which driver libraries/binaries will be mounted inside the container
-        NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
-
-# Avoid interactive prompts during the building of this docker image
-ARG DEBIAN_FRONTEND="noninteractive"
-
-ARG AUTOWAREAUTO_DEPS="coinor-libipopt-dev \
-        coinor-libipopt1v5 \
-        libarmadillo-dev \
-        libcgal-dev \
-        libmumps-5.2.1 \
-        libmumps-dev \
-        libmumps-seq-5.2.1 \
-        libmumps-seq-dev \
-        libproj-dev \
-        libscalapack-mpi-dev \
-        libscalapack-openmpi-dev \
-        libscalapack-openmpi2.1 \
-        libscotch-6.0 \
-        ros-foxy-acado-vendor \
-        ros-foxy-ament-cmake-google-benchmark \
-        ros-foxy-apex-test-tools \
-        ros-foxy-automotive-platform-msgs \
-        ros-foxy-casadi-vendor \
-        ros-foxy-diagnostic-updater \
-        ros-foxy-gps-msgs \
-        ros-foxy-joy-linux \
-        ros-foxy-lgsvl-msgs \
-        ros-foxy-osqp-vendor \
-        ros-foxy-osrf-testing-tools-cpp \
-        ros-foxy-point-cloud-msg-wrapper \
-        ros-foxy-ros-testing \
-        ros-foxy-rosapi \
-        ros-foxy-rosapi-msgs \
-        ros-foxy-rosbridge-library \
-        ros-foxy-rosbridge-msgs \
-        ros-foxy-rosbridge-server \
-        ros-foxy-tvm-vendor \
-        ros-foxy-udp-driver \
-        ros-foxy-udp-msgs \
-        ros-foxy-velodyne-pointcloud \
-        ros-foxy-yaml-cpp-vendor"
-
-ARG BASE_DEPS="ca-certificates \
-        curl \
-        gnupg2 \
-        locales \
-        lsb-release \
-        openssl \
-        python3-rosinstall \
-        ros-noetic-desktop-full \
-        xterm \
-	libmsgsl-dev"
-
-ARG ROS_DEPS="apt-transport-https \
-        apt-utils \
-        automake \
-        autotools-dev \
-        dialog \
-        gcovr \
-        gdb \
-        git \
-        gnuplot-qt \
-        jq \
-        less \
-        libboost-python-dev \
-        libfftw3-dev \
-        libgeographic-dev \
-        libgmock-dev \
-        libnl-genl-3-dev \
-        libopenblas-dev \
-        libpcap-dev \
-        libpugixml-dev \
-        lttng-tools \
-        lttng-modules-dkms \
-        liblttng-ust-dev \
-        mesa-utils \
-        nano \
-        nodejs \
-        python3-babeltrace \
-        python3-catkin-pkg \
-        python3-catkin-tools \
-        python3-colcon-common-extensions \
-        python3-future \
-        python3-lttng \
-        python3-pip \
-        python3-rosdep \
-        python3-setuptools \
-        python3-testresources \
-        python3-vcstool \
-        python3-pybind11 \
-        ros-foxy-desktop \
-        ros-foxy-rmw-cyclonedds-cpp \
-        ros-foxy-pcl-ros \
-        ros-foxy-test-msgs \
-        ros-foxy-nmea-msgs \
-        ros-foxy-gps-tools \
-        ros-foxy-rosbag2-storage-mcap \
-        ros-noetic-costmap-2d \
-        ros-noetic-dataspeed-can \
-        ros-noetic-dbw-mkz \
-        ros-noetic-geodesy \
-        ros-noetic-grid-map \
-        ros-noetic-lusb \
-        ros-noetic-rosserial \
-        ros-noetic-rosserial-arduino \
-        ros-noetic-velodyne-pcl \
-        software-properties-common \
-        sqlite3 \
-        ssh \
-        sudo \
-        tmux \
-        unzip \
-        vim \
-        wait-for-it \
-        x-window-system"
-
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Add carma user
@@ -171,101 +52,12 @@ COPY --chown=carma package.xml /home/carma/.base-image/workspace/src/carma_base/
 COPY --chown=carma entrypoint.sh init-env.sh /home/carma/.base-image/
 COPY --chown=carma ./code_coverage /home/carma/.ci-image/engineering_tools/code_coverage
 
-# Install ROS Noetic
-ARG ROS_DISTRO=noetic
-RUN sed -i 's|http://archive.ubuntu.com|http://us.archive.ubuntu.com|g' /etc/apt/sources.list && \
-        # Add ROS 1 repo
-        apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
-        sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(grep -oP "UBUNTU_CODENAME\=\K.*" /etc/os-release) main" > /etc/apt/sources.list.d/ros-latest.list' && \
-        # Add ROS 2 repo
-        apt-key adv --fetch-keys https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc && \
-        sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(grep -oP "UBUNTU_CODENAME\=\K.*" /etc/os-release) main" > /etc/apt/sources.list.d/ros2-latest.list' && \
-        apt update && \
-        apt-get install --no-install-recommends --yes ${BASE_DEPS} && \
-        # Prepare for ROS 2 Foxy installation
-        locale-gen en_US en_US.UTF-8 && \
-        update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-        export LANG=en_US.UTF-8 && \
-        # Install Sonar dependency nodejs
-        curl -sL https://deb.nodesource.com/setup_16.x | bash - && \
-        # Install ROS 2 Foxy
-        apt-get install --no-install-recommends --yes ${AUTOWAREAUTO_DEPS} ${ROS_DEPS} && \
-        # Install AutonomouStuff dependencies
-        sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list' && \
-        apt-get update && \
-        apt-get install --no-install-recommends --yes libas-common && \
-        # Vimba Deps
-        add-apt-repository --update --yes ppa:rock-core/qt4 && \
-        apt-get install --fix-missing --no-install-recommends --yes libqtcore4 libqt4-network libqt4-qt3support && \
-        # Install KVaser CAN
-        add-apt-repository --update --yes ppa:astuff/kvaser-linux && \
-        apt-get install --no-install-recommends --yes kvaser-canlib-dev can-utils && \
-        # Download a cmake module for PROJ, needed for lanelet2_extension, autoware_lanelet2_ros_interface, and maybe more
-        curl --output /usr/share/cmake-3.16/Modules/FindPROJ4.cmake https://raw.githubusercontent.com/mloskot/cmake-modules/master/modules/FindPROJ4.cmake && \
-        # Install version 45.2.0 for setuptools since that is the latest version available for ubuntu focal
-        # Version match is needed to build some of the packages
-        pip3 install --no-cache-dir setuptools==45.2.0 simple-pid && \
-        ###
-        # TODO: The following sequence of commands make -j a local update to ament_cmake to resolve an issue
-        #       with the default xml parsing. Once the PR https://github.com/ament/ament_cmake/pull/287 is
-        #       backported to ROS 2 Foxy, this can be removed.
-        ###
-        curl https://raw.githubusercontent.com/ament/ament_cmake/efcbe328d001c9ade93a06bd8035642e37dd6f2a/ament_cmake_core/cmake/core/package_xml_2_cmake.py > /opt/ros/foxy/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py && \
-        # Vimba source
-        curl -L -o Vimba_v5.0_Linux.tgz https://github.com/usdot-fhwa-stol/avt_vimba_camera/raw/fix/update_vimba_sdk/Vimba_v5.0_Linux.tgz && \
-        tar -xzf ./Vimba_v5.0_Linux.tgz -C /opt && \
-        ./opt/Vimba_5_0/VimbaGigETL/Install.sh && \
-        rm Vimba_v5.0_Linux.tgz && \
-        # Set environment variable for SonarQube Binaries. Two binaries will go in this directory:
-        #   - The Build Wrapper which executes a code build to capture C++
-        #   - The Sonar Scanner which uploads the results to SonarCloud
-        SONAR_DIR=/opt/sonarqube && \
-        # Pull scanner from internet
-        mkdir $SONAR_DIR && \
-        curl -o $SONAR_DIR/sonar-scanner.zip https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-5.0.1.3006-linux.zip && \
-        curl -o $SONAR_DIR/build-wrapper.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip && \
-        # Unzip scanner
-        unzip $SONAR_DIR/sonar-scanner.zip -d "$SONAR_DIR"/ && \
-        unzip $SONAR_DIR/build-wrapper.zip -d "$SONAR_DIR"/ && \
-        # Remove zip files
-        rm $SONAR_DIR/sonar-scanner.zip && \
-        rm $SONAR_DIR/build-wrapper.zip && \
-        # Rename files
-        mv "$SONAR_DIR"/sonar-scanner-* "$SONAR_DIR"/sonar-scanner/ && \
-        mv "$SONAR_DIR"/build-wrapper-* "$SONAR_DIR"/build-wrapper/ && \
-        # FIXME: The following symlink will no longer be required once images
-        # that depend on carma-base change from wait-for-it.sh to wait-for-it
-        ln -s /usr/bin/wait-for-it /usr/bin/wait-for-it.sh && \
-        # Install non-ros1 dependant version of catkin
-        # This can be used without issue for ROS2 builds wheras the noetic version has compatability issues
-        # install catkin_pkg
-        sudo -u carma mkdir /home/carma/catkin_ros2_ws && \
-        sudo -u carma git clone https://github.com/ros-infrastructure/catkin_pkg.git /home/carma/catkin_ros2_ws/catkin_pkg && \
-        cd /home/carma/catkin_ros2_ws/catkin_pkg && \
-        # Checkout a known working commit
-        sudo -u carma git checkout 60096f4b4a0975774651122b7e2d346545f8098a && \
-        sudo -u carma python3 setup.py install --prefix /home/carma/catkin --single-version-externally-managed --record foo --install-layout deb && \
-        # install catkin
-        sudo -u carma git clone https://github.com/ros/catkin.git /home/carma/catkin_ros2_ws/catkin && \
-        cd /home/carma/catkin_ros2_ws/catkin && \
-        # Checkout a known working commit
-        sudo -u carma git checkout 085e8950cafa3eb979edff1646b9e3fe55a7053a && \
-        sudo -u carma mkdir build && \
-        cd build && \
-        PYTHONPATH=/home/carma/catkin/lib/python3/dist-packages/ sudo -u carma cmake .. -DCMAKE_INSTALL_PREFIX=/home/carma/catkin -DPYTHON_EXECUTABLE=/usr/bin/python3 && \
-        sudo -u carma make -j install && \
-        # Result is installation under ~/catkin so use with
-        # source ~/cakin/setup.bash
-        rosdep --rosdistro noetic init && \
-        sudo -u carma rosdep --rosdistro noetic update && \
-        sudo -u carma rosdep --rosdistro noetic install --from-paths /home/carma/.base-image/workspace/src --ignore-src -y && \
-        sudo -u carma echo "source ~/.base-image/init-env.sh" >> /home/carma/.bashrc && \
-        sudo -u carma echo "cd /opt/carma" >> /home/carma/.bashrc && \
-	# Install Java 17
-        apt-get install -y openjdk-17-jdk && \
-        apt-get clean && \
-        rm -rf /var/lib/apt/lists/*
+# Layer for building ROS2 Humble packages from source
+# NOTICE: needs to be chmod +x on host if not already
+COPY install_pkgs.sh install_pkgs.sh
+RUN ./install_pkgs.sh
+
 
 USER carma
 
-ENTRYPOINT [ "/home/carma/.base-image/entrypoint.sh" ]
+ENTRYPOINT [ "/home/carma/.base-image/entrypoint.sh" ]

init-env.sh

@@ -36,17 +36,6 @@ export CUDA_BIN_PATH=/usr/local/cuda
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64
 export PATH=$PATH:/usr/local/cuda/bin
 
-# Vimba
-export GENICAM_GENTL32_PATH=$GENICAM_GENTL32_PATH:"/opt/Vimba_5_0/VimbaGigETL/CTI/x86_32bit/"
-export GENICAM_GENTL64_PATH=$GENICAM_GENTL64_PATH:"/opt/Vimba_5_0/VimbaGigETL/CTI/x86_64bit/"
-
-if [ -f "/opt/ros/noetic/setup.bash" ]; then
-    source /opt/ros/noetic/setup.bash
-fi
-
-if [ -f "/opt/autoware.ai/ros/install/setup.bash" ]; then
-    source /opt/autoware.ai/ros/install/setup.bash
-fi
 
 if [ -f "/opt/carma/install/setup.bash" ]; then
     source /opt/carma/install/setup.bash

install_pkgs.sh

@@ -0,0 +1,56 @@
+#!/usr/bin/env bash
+
+# This script builds ROS2 Humble packages from source that are required
+# as dependencies for C1T components on ARM hardware
+
+apt update
+
+export ROS_PACKAGE_PATH='/opt/ros/humble/install/share'
+export PYTHONPATH='/opt/ros/humble/install/lib/python3.8/site-packages/:$PYTHONPATH'
+export CMAKE_PREFIX_PATH='/opt/ros/humble/install'
+
+mkdir -p /opt/ros/humble/src
+cd /opt/ros/humble
+
+rosinstall_generator --deps --rosdistro humble \
+    acado_vendor \
+    casadi_vendor \
+    diagnostic_updater \
+    joy_linux \
+    osrf_testing_tools_cpp \
+    point_cloud_msg_wrapper \
+    ros_testing \
+    rosapi \
+    rosapi_msgs \
+    rosbridge_library \
+    rosbridge_msgs \
+    rosbridge_server \
+    udp_driver \
+    udp_msgs \
+    velodyne_pointcloud \
+    yaml_cpp_vendor \
+    pcl_ros \
+    test_msgs \
+    nmea_msgs \
+    rosbag2 \
+    --exclude RPP \
+> ros2.humble.ros_base.rosinstall
+vcs import src < ros2.humble.ros_base.rosinstall
+
+rosdep update
+rosdep install -y \
+    --ignore-src \
+    --from-paths src \
+    --rosdistro humble
+
+colcon build \
+    --merge-install \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+rm -rf /opt/ros/humble/src
+rm -rf /opt/ros/humble/logs
+rm -rf /opt/ros/humble/build
+rm /opt/ros/humble/*.rosinstall
+
+rm -rf /var/lib/apt/lists/*
+apt-get clean