added next steps to ros image

KalanaRatnayake · Aug 3, 2024 · 3c8689f · 3c8689f
1 parent 086f8d8
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diff --git a/README.md b/README.md
@@ -4,8 +4,8 @@ This repository contains dockerfiles for base images for Jetson Nano and Jetson
 
 | Name       | Content                                 | Jetson Nano | Jetson AGX Orin |
 | :--------- | :-------------------------------------- | :---------: | :-------------: |
-| foxy-base  | Ubuntu 20.04, Python 3.8.10  |  `r32.7.1` / 822MB
-| Content    | Content Cell  |
+| jetson-base    | Ubuntu 20.04, Python 3.8.10  |  `r32.7.1` / 822MB | |
+| jetson-minimal | Ubuntu 20.04, Python 3.8.10, GCC-8, G++-8, build-essential package  |  `r32.7.1` / 1.11GB | |
 
 ## Docker buildx for ARM64 platform (for AMD64 systems)
 
@@ -38,7 +38,7 @@ or
 
 Build the docker container
 ```bash
-docker buildx build --load --platform linux/arm64 -f base-images/foxy.jnano.Dockerfile -t foxy-base:r32.7.1 .
+docker buildx build --load --platform linux/arm64 -f base-images/foxy.Dockerfile -t foxy-base:r32.7.1 .
 ```
 
 ### Start
@@ -54,11 +54,8 @@ docker run --rm -it --runtime nvidia --network host --gpus all -e DISPLAY ghcr.i
 <details> 
 <summary> <h3> Jetson Ubuntu Foxy Minimal Image </h3> </summary>
 
-- Size is about 1.11GB
-- Contains,
-    * Python 3.8.10
-    * GCC-8, G++-8 (for building CUDA 10.2 related applications)
-    * build-essential package (g++-9, gcc-9, make, dpkg-dev, libc6-dev)
+- GCC-8, G++-8 for building CUDA 10.2 related applications
+- build-essential package (g++-9, gcc-9, make, dpkg-dev, libc6-dev)
 
 ### Pull or Build
 
@@ -118,10 +115,10 @@ or build with cache locally and push when image compilation can be slow on githu
 ```bash
 docker buildx build --push \
                     --platform linux/arm64 \
-                    --cache-from=type=registry,ref=ghcr.io/kalanaratnayake/foxy-ros:humble-ros-core-buildcache \
-                    --cache-to=type=registry,ref=ghcr.io/kalanaratnayake/foxy-ros:humble-ros-core-buildcache,mode=max  \
-                    -f ros-images/humble_core.Dockerfile  \
-                    -t ghcr.io/kalanaratnayake/foxy-ros:humble-core-r32.7.1 .
+                    --cache-from=type=registry,ref=ghcr.io/kalanaratnayake/jetson-ros:humble-ros-core-r32.7.1-buildcache \
+                    --cache-to=type=registry,ref=ghcr.io/kalanaratnayake/jetson-ros:humble-ros-core-r32.7.1-buildcache,mode=max  \
+                    -f ros-images/r3271.humble_core.Dockerfile  \
+                    -t ghcr.io/kalanaratnayake/jetson-ros:humble-core-r32.7.1 .
 ```
 
 ### Start

diff --git a/ros-images/r3271.humble_base.Dockerfile b/ros-images/r3271.humble_base.Dockerfile
@@ -95,18 +95,17 @@ RUN rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PACKAGE} \
 
 RUN vcs import ${ROS_ROOT}/src < ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall
 
-#-------------------------------
-
-# WORKDIR ${ROS_ROOT}
+WORKDIR ${ROS_ROOT}
 
-# RUN rosdep init && rosdep update
+RUN rosdep init && rosdep update
 
-# RUN rosdep install -y \
-# 	               --ignore-src \
-# 	               --from-paths src \
-# 	               --rosdistro ${ROS_DISTRO} \
-#                    --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+RUN rosdep install -y \
+	               --ignore-src \
+	               --from-paths src \
+	               --rosdistro ${ROS_DISTRO} \
+                   --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
 
+#-------------------------------
 # RUN colcon build \
 #             --merge-install \
 #             --cmake-args -DCMAKE_BUILD_TYPE=Release 

diff --git a/ros-images/r3271.humble_core.Dockerfile b/ros-images/r3271.humble_core.Dockerfile
@@ -95,17 +95,17 @@ RUN rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PACKAGE} \
 
 RUN vcs import ${ROS_ROOT}/src < ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall
 
-#-------------------------------
+WORKDIR ${ROS_ROOT}
 
-# WORKDIR ${ROS_ROOT}
+RUN rosdep init && rosdep update
 
-# RUN rosdep init && rosdep update
+RUN rosdep install -y \
+	               --ignore-src \
+	               --from-paths src \
+	               --rosdistro ${ROS_DISTRO} \
+                   --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
 
-# RUN rosdep install -y \
-# 	               --ignore-src \
-# 	               --from-paths src \
-# 	               --rosdistro ${ROS_DISTRO} \
-#                    --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+#-------------------------------
 
 # RUN colcon build \
 #             --merge-install \