final steps of the ros image build

KalanaRatnayake · Aug 3, 2024 · a45e032 · a45e032
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diff --git a/README.md b/README.md
@@ -16,43 +16,25 @@ docker buildx create --use --driver-opt network=host --name MultiPlatform --plat
 
 ## Docker container list
 
-<details> 
-<summary> <h3> foxy-base </h3> </summary>
-
-This image is an modified [nvcr.io/nvidia/l4t-base:r32.7.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags). The image has been modified by upgrading core Ubuntu 18.04 to Ubuntu 20.04. 
-
-[dusty-nv/jetson-containers](https://github.com/dusty-nv/jetson-containers) allows building image for Jetson nano but they are based on offical [nvcr.io/nvidia/l4t-base:r32.7.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags) which is based on Ubuntu 18.04 and is limited by Python 3.6.9. 
+### 1. Jetson-base
 
-Due to this, being inspired from [Qengineering/Jetson-Nano-Ubuntu-20-image](https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image) and based on [gpshead/Dockerfile](https://gist.github.com/gpshead/0c3a9e0a7b3e180d108b6f4aef59bc19), this image provides an Ubuntu 20.04 version of [nvcr.io/nvidia/l4t-base:r32.7.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags)
+#### jetson-base:r32.7.1 
 
-> Ubuntu 22.04 was also attempted, but later abandoned due to lack of support for gcc-8, g++8 and clang-8 required by CUDA 10.2 in r32.7.1
-
-### Pull or Build
 
-Pull the docker container
-```bash
-docker pull ghcr.io/kalanaratnayake/foxy-base:r32.7.1
+```docker
+FROM ghcr.io/kalanaratnayake/jetson-base:r32.7.1
 ```
 
-or
+[Installation and local build instructions for jetson-base:r32.7.1 ](base-images/r3721.md)
 
-Build the docker container
-```bash
-docker buildx build --load --platform linux/arm64 -f base-images/foxy.Dockerfile -t foxy-base:r32.7.1 .
-```
+### 2. Jetson-minimal
 
-### Start
+#### jetson-minimal:r32.7.1 
 
-Start the docker container
-```bash
-docker run --rm -it --runtime nvidia --network host --gpus all -e DISPLAY ghcr.io/kalanaratnayake/foxy-base:r32.7.1 bash
-```
-<br>
 
-</details>
-
-<details> 
-<summary> <h3> Jetson Ubuntu Foxy Minimal Image </h3> </summary>
+```docker
+FROM ghcr.io/kalanaratnayake/jetson-minimal:r32.7.1
+```
 
 - GCC-8, G++-8 for building CUDA 10.2 related applications
 - build-essential package (g++-9, gcc-9, make, dpkg-dev, libc6-dev)
@@ -172,10 +154,10 @@ 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-base-buildcache \
-                    --cache-to=type=registry,ref=ghcr.io/kalanaratnayake/foxy-ros:humble-ros-base-buildcache,mode=max  \
-                    -f ros-images/humble_base.Dockerfile  \
-                    -t ghcr.io/kalanaratnayake/foxy-ros:humble-base-r32.7.1 .
+                    --cache-from=type=registry,ref=ghcr.io/kalanaratnayake/jetson-ros:humble-ros-base-r32.7.1-buildcache \
+                    --cache-to=type=registry,ref=ghcr.io/kalanaratnayake/jetson-ros:humble-ros-base-r32.7.1-buildcache,mode=max  \
+                    -f ros-images/r3271.humble_base.Dockerfile  \
+                    -t ghcr.io/kalanaratnayake/jetson-ros:humble-base-r32.7.1 .
 ```
 
 ### Start

diff --git a/base-images/r3721.md b/base-images/r3721.md
@@ -0,0 +1,34 @@
+## jetson-base:r32.7.1 
+
+This image is an modified [nvcr.io/nvidia/l4t-base:r32.7.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags). The image has been modified by upgrading core Ubuntu 18.04 to Ubuntu 20.04. 
+
+[dusty-nv/jetson-containers](https://github.com/dusty-nv/jetson-containers) allows building image for Jetson nano but they are based on offical [nvcr.io/nvidia/l4t-base:r32.7.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags) which is based on Ubuntu 18.04 and is limited by Python 3.6.9. 
+
+Due to this, being inspired from [Qengineering/Jetson-Nano-Ubuntu-20-image](https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image) and based on [gpshead/Dockerfile](https://gist.github.com/gpshead/0c3a9e0a7b3e180d108b6f4aef59bc19), this image provides an Ubuntu 20.04 version of [nvcr.io/nvidia/l4t-base:r32.7.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base/tags)
+
+> Ubuntu 22.04 was also attempted, but later abandoned due to lack of support for gcc-8, g++8 and clang-8 required by CUDA 10.2 in r32.7.1
+
+<br>
+
+### Pull or Build
+
+Pull the docker container
+```bash
+docker pull ghcr.io/kalanaratnayake/jetson-base:r32.7.1
+```
+
+or
+
+Build the docker container
+```bash
+docker buildx build --load --platform linux/arm64 -f base-images/r3271.Dockerfile -t jetson-base:r32.7.1 .
+```
+
+<br>
+
+### Start
+
+Start the docker container
+```bash
+docker run --rm -it --runtime nvidia --network host --gpus all -e DISPLAY ghcr.io/kalanaratnayake/jetson-base:r32.7.1 bash
+```
diff --git a/ros-images/r3271.humble_base.Dockerfile b/ros-images/r3271.humble_base.Dockerfile
@@ -105,48 +105,48 @@ RUN rosdep install -y \
 	               --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 
 
-# WORKDIR /
+RUN colcon build \
+            --merge-install \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release 
+
+WORKDIR /
 
 # # remove ros source and build files.
 
-# RUN rm -rf ${ROS_ROOT}/src
-# RUN rm -rf ${ROS_ROOT}/log
-# RUN rm -rf ${ROS_ROOT}/build
+RUN rm -rf ${ROS_ROOT}/src
+RUN rm -rf ${ROS_ROOT}/log
+RUN rm -rf ${ROS_ROOT}/build
 
-# RUN apt-get clean
+RUN apt-get clean
 
 #############################################################################################################################
 #####
 #####   Remove dev packages to reduce size
 #####
 #############################################################################################################################
 
-# RUN apt-get update -y
+RUN apt-get update -y
 
-# RUN apt-get autoremove -y
+RUN apt-get autoremove -y
 
-# RUN rm -rf /var/lib/apt/lists/*
-# RUN rm -rf /tmp/*
-# RUN apt-get clean
+RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /tmp/*
+RUN apt-get clean
 
 #---------------------------------------------------------------------------------------------------------------------------
 #----
 #----   Start final release image
 #----
 #---------------------------------------------------------------------------------------------------------------------------
 
-# FROM scratch AS final
+FROM scratch AS final
 
-# COPY --from=base / /
+COPY --from=base / /
 
-# COPY ros-images/ros_entrypoint.sh /ros_entrypoint.sh
+COPY ros-images/ros_entrypoint.sh /ros_entrypoint.sh
 
-# RUN chmod +x /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
 
 #############################################################################################################################
 #####
@@ -155,16 +155,16 @@ RUN rosdep install -y \
 #####
 #############################################################################################################################
 
-# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-# ENV OPENBLAS_CORETYPE=ARMV8
+ENV OPENBLAS_CORETYPE=ARMV8
 
-# ARG ROS_VERSION=humble
+ARG ROS_VERSION=humble
 
-# ENV ROS_DISTRO=${ROS_VERSION}
+ENV ROS_DISTRO=${ROS_VERSION}
 
-# ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
 
-# WORKDIR /
+WORKDIR /
 
-# ENTRYPOINT ["/ros_entrypoint.sh"]
+ENTRYPOINT ["/ros_entrypoint.sh"]
diff --git a/ros-images/r3271.humble_core.Dockerfile b/ros-images/r3271.humble_core.Dockerfile
@@ -105,49 +105,47 @@ RUN rosdep install -y \
 	               --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 
 
-# RUN colcon build \
-#             --merge-install \
-#             --cmake-args -DCMAKE_BUILD_TYPE=Release 
-
-# WORKDIR /
+WORKDIR /
 
 # remove ros source and build files.
 
-# RUN rm -rf ${ROS_ROOT}/src
-# RUN rm -rf ${ROS_ROOT}/log
-# RUN rm -rf ${ROS_ROOT}/build
+RUN rm -rf ${ROS_ROOT}/src
+RUN rm -rf ${ROS_ROOT}/log
+RUN rm -rf ${ROS_ROOT}/build
 
-# RUN apt-get clean
+RUN apt-get clean
 
 #############################################################################################################################
 #####
 #####   Remove dev packages to reduce size
 #####
 #############################################################################################################################
 
-# RUN apt-get update -y
+RUN apt-get update -y
 
-# RUN apt-get autoremove -y
+RUN apt-get autoremove -y
 
-# RUN rm -rf /var/lib/apt/lists/*
-# RUN rm -rf /tmp/*
-# RUN apt-get clean
+RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /tmp/*
+RUN apt-get clean
 
 #---------------------------------------------------------------------------------------------------------------------------
 #----
 #----   Start final release image
 #----
 #---------------------------------------------------------------------------------------------------------------------------
 
-# FROM scratch AS final
+FROM scratch AS final
 
-# COPY --from=base / /
+COPY --from=base / /
 
-# COPY ros-images/ros_entrypoint.sh /ros_entrypoint.sh
+COPY ros-images/ros_entrypoint.sh /ros_entrypoint.sh
 
-# RUN chmod +x /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
 
 #############################################################################################################################
 #####
@@ -156,16 +154,16 @@ RUN rosdep install -y \
 #####
 #############################################################################################################################
 
-# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-# ENV OPENBLAS_CORETYPE=ARMV8
+ENV OPENBLAS_CORETYPE=ARMV8
 
-# ARG ROS_VERSION=humble
+ARG ROS_VERSION=humble
 
-# ENV ROS_DISTRO=${ROS_VERSION}
+ENV ROS_DISTRO=${ROS_VERSION}
 
-# ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
 
-# WORKDIR /
+WORKDIR /
 
-# ENTRYPOINT ["/ros_entrypoint.sh"]
+ENTRYPOINT ["/ros_entrypoint.sh"]