added ros images for r36.2.0

.github/workflows/r3630-humblebase.yml

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+name: Jetson ROS Humble Base r32.7.1
+
+on:
+  workflow_dispatch:
+
+  workflow_run:
+    workflows: [Jetson Base r32.7.1]
+    types:
+      - completed
+
+  push:
+    branches: 
+      - main
+    paths:
+      - ".github/workflows/r3271-humblebase.yml"
+      - "ros-images/r3271.humble_base.Dockerfile"
+      - "ros-images/ros_entrypoint.sh"
+
+  pull_request:
+    branches: 
+      - main
+    paths:
+      - ".github/workflows/r3271-humblebase.yml"
+      - "ros-images/r3271.humble_base.Dockerfile"
+      - "ros-images/ros_entrypoint.sh"
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: kalanaratnayake
+  IMAGE_NAME: jetson-ros
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.GH_PAT }} ghcr.io 
+        # uses: docker/login-action@v3
+        # with:
+        #   registry: ${{ env.REGISTRY }}
+        #   username: ${{ github.actor }}
+        #   password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and Push ROS Humble Base image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./ros-images/r3271.humble_base.Dockerfile
+          push: true
+          platforms: linux/arm64
+          cache-from: type=registry,ref=${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-ros-base-r32.7.1-buildcache
+          cache-to: type=registry,ref=${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-ros-base-r32.7.1-buildcache,mode=max
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-base-r32.7.1

.github/workflows/r3630-humblecore.yml

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+name: Jetson ROS Humble Core r32.7.1
+
+on:
+  workflow_dispatch:
+
+  workflow_run:
+    workflows: [Jetson Base r32.7.1]
+    types:
+      - completed
+
+  push:
+    branches: 
+      - main
+    paths:
+      - ".github/workflows/r3271-humblecore.yml"
+      - "ros-images/r3271.humble_core.Dockerfile"
+      - "ros-images/ros_entrypoint.sh"
+
+  pull_request:
+    branches: 
+      - main
+    paths:
+      - ".github/workflows/r3271-humblecore.yml"
+      - "ros-images/r3271.humble_core.Dockerfile"
+      - "ros-images/ros_entrypoint.sh"
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: kalanaratnayake
+  IMAGE_NAME: jetson-ros
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.GH_PAT }} ghcr.io 
+        # uses: docker/login-action@v3
+        # with:
+        #   registry: ${{ env.REGISTRY }}
+        #   username: ${{ github.actor }}
+        #   password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and Push ROS Humble Core image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./ros-images/r3271.humble_core.Dockerfile
+          push: true
+          platforms: linux/arm64
+          cache-from: type=registry,ref=${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-ros-core-r32.7.1-buildcache
+          cache-to: type=registry,ref=${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-ros-core-r32.7.1-buildcache,mode=max
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-core-r32.7.1

ros-images/r3620.humble_base.Dockerfile

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+#---------------------------------------------------------------------------------------------------------------------------
+#----
+#----   Start base image
+#----
+#---------------------------------------------------------------------------------------------------------------------------
+
+FROM nvcr.io/nvidia/l4t-base:r36.2.0 AS base
+
+#############################################################################################################################
+#####
+#####   Install core packages, python3 and opencv
+#####
+#############################################################################################################################
+
+RUN apt-get update -y
+RUN apt-get install -y --no-install-recommends cmake \
+                                               build-essential \
+                                               wget \
+                                               unzip \
+                                               locales \                                               
+                                               software-properties-common \
+                                               curl \
+                                               git \
+                                               gnupg2 \
+                                               ca-certificates \
+                                               pkg-config \
+                                               lsb-release\
+                                               python3 \
+                                               python3-dev \
+                                               python3-distutils \
+                                               python3-pip \
+                                               python3-venv \
+                                               libpython3-dev \
+                                               libboost-python-dev                                        
+
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+ENV LANG=en_US.UTF-8
+ENV PYTHONIOENCODING=utf-8
+
+RUN python3 -m pip install --no-cache-dir   numpy \
+                                            opencv-python
+
+#############################################################################################################################
+#####
+#####   Install ROS2 humble ros base
+#####
+#############################################################################################################################
+
+ARG ROS_VERSION=humble
+
+RUN add-apt-repository universe
+
+RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+ http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+RUN apt-get update -y
+
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-ros-base
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends ros-dev-tools
+
+ENV ROS_DISTRO=${ROS_VERSION}
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+ENV ROS_PYTHON_VERSION=3
+
+RUN rosdep init && rosdep update
+
+WORKDIR /
+
+RUN apt-get clean
+
+#############################################################################################################################
+#####
+#####   Remove dev packages to reduce size
+#####
+#############################################################################################################################
+
+RUN apt-get update -y
+
+RUN apt-get autoremove -y
+
+RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /tmp/*
+RUN apt-get clean
+
+#---------------------------------------------------------------------------------------------------------------------------
+#----
+#----   Start final release image
+#----
+#---------------------------------------------------------------------------------------------------------------------------
+
+FROM scratch AS final
+
+COPY --from=base / /
+
+COPY ros-images/ros_entrypoint.sh /ros_entrypoint.sh
+
+RUN chmod +x /ros_entrypoint.sh
+
+#############################################################################################################################
+#####
+#####  ROS Humble environment variables and configuration and set the default DDS middleware to cyclonedds
+#####  https://github.com/ros2/rclcpp/issues/1335
+#####
+#############################################################################################################################
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ENV OPENBLAS_CORETYPE=ARMV8
+
+ARG ROS_VERSION=humble
+
+ENV ROS_DISTRO=${ROS_VERSION}
+
+ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
+
+WORKDIR /
+
+ENTRYPOINT ["/ros_entrypoint.sh"]

ros-images/r3620.humble_base.md

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+## jetson-ros:humble-base-r32.7.1
+
+### Pull or Build
+
+Pull the docker container
+```bash
+docker pull ghcr.io/kalanaratnayake/jetson-ros:humble-base-r32.7.1
+```
+
+Build the docker container
+```bash
+docker buildx build --load --platform linux/arm64 -f ros-images/r3271.humble_base.Dockerfile -t jetson-ros:humble-base-r32.7.1 .
+```
+
+or build with cache locally and push when image compilation can be slow on github actions and exceeds 6rs
+
+```bash
+docker buildx build --push \
+                    --platform linux/arm64 \
+                    --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
+
+Start the docker container
+```bash
+docker run --rm -it --runtime nvidia --network host --gpus all -e DISPLAY ghcr.io/kalanaratnayake/jetson-ros:humble-base-r32.7.1 bash
+```
+
+### Test
+
+Run the following commands inside the docker container to confirm that the container is working properly.
+```bash
+ros2 run demo_nodes_cpp talker
+```
+
+Run the following commands on another instance of ros container or another Computer/Jetson device installed with ROS humble to check 
+connectivity over host network and discoverability (while the above command is running).
+```bash
+ros2 run demo_nodes_py listener
+```