Dockerfile.jetson6

# Base unit for Nvidia Jetson platforms based on JetPack 6.
#
# Roberto Masocco <r.masocco@dotxautomation.com>
#
# February 21, 2025

# Copyright 2025 dotX Automation s.r.l.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# BUILD THIS WITH:
# --network host

# Start from a JetPack 6 image based on Ubuntu 22.04
# NOTES
# - The base image is Ubuntu 22.04.
# - This image is based on L4T 36.4.0, JetPack 6.1.
FROM --platform=linux/arm64 nvcr.io/nvidia/l4t-jetpack:r36.4.0

ENV DEBIAN_FRONTEND=noninteractive

# Create internal users group
RUN groupadd -r internal

# Update CMake version to the latest available at Kitware
RUN apt-get remove --purge --auto-remove -y cmake && \
  wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg > /dev/null && \
  echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main" | tee /etc/apt/sources.list.d/kitware.list && \
  apt-get update && \
  apt-get install -y --no-install-recommends cmake && \
  rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*/apt/lists/*

# Purge existing OpenCV installation
RUN apt-get update && apt-get remove --purge --auto-remove -y \
  libopencv* \
  opencv* && \
  rm -rf /usr/local/include/opencv4 && \
  rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*/apt/lists/*

# Purge existing numpy installation
RUN apt-get update && apt-get remove --purge --auto-remove -y \
  python3-numpy && \
  rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*/apt/lists/*

# Install basic utilities, dependencies, and development tools
# These include:
# - C/C++ toolchain and debuggers
# - Python 3 interpreter, testers, basic modules and scientific libraries
# - Linters
# - OpenCV dependencies for ARMv8 systems
# - Boost C++ libraries
# - System utilities
# - Zsh shell
# Then, add universe repository
RUN apt-get update && apt-get install -y --no-install-recommends \
  apt-utils \
  build-essential \
  ccache \
  cppcheck \
  curl \
  dialog \
  dirmngr \
  dmidecode \
  file \
  fuse3 \
  g++ \
  gcc \
  gdb \
  gdbserver \
  gfortran \
  git \
  gnupg2 \
  gstreamer1.0-tools \
  htop \
  iproute2 \
  less \
  lcov \
  libasio-dev \
  libatlas-base-dev \
  libavcodec-dev \
  libavformat-dev \
  libavutil-dev \
  libboost-all-dev \
  libcanberra-gtk* \
  libdc1394-dev \
  libfaac-dev \
  libgeographic-dev \
  libgflags-dev \
  libgoogle-glog-dev \
  libgstreamer1.0-dev \
  libgstreamer-plugins-base1.0-dev \
  libgtk2.0-dev \
  libgtk-3-dev \
  libhdf5-dev \
  libjpeg-dev \
  libmp3lame-dev \
  libopenblas-dev \
  libopencore-amrnb-dev \
  libpng-dev \
  libprotobuf-dev \
  libssl-dev \
  libswresample-dev \
  libswscale-dev \
  libtheora-dev \
  libtiff-dev \
  libtinyxml2-dev \
  libv4l-dev \
  libvorbis-dev \
  libx264-dev \
  libxine2-dev \
  libxml2-utils \
  libxvidcore-dev \
  locales \
  lsb-core \
  lsb-release \
  lsof \
  make \
  minicom \
  nano \
  nfs-common \
  ninja-build \
  openssh-client \
  openssl \
  pkg-config \
  protobuf-compiler \
  python3-argcomplete \
  python3-autopep8 \
  python3-dev \
  python3-pygments \
  python3-pytest-cov \
  python3-pytest-pylint \
  python3-vcstools \
  python3-venv \
  shellcheck \
  software-properties-common \
  sshfs \
  sudo \
  uncrustify \
  unzip \
  v4l-utils \
  valgrind \
  vim \
  wget \
  whois \
  zip \
  zsh \
  zsh-doc && \
  add-apt-repository universe && \
  apt-get autoremove -y && \
  apt-get autoclean && \
  rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*/apt/lists/*

# Install cuSPARSELt from Nvidia repositories, necessary for Ultralytics
WORKDIR /tmp
RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/arm64/cuda-keyring_1.1-1_all.deb && \
  dpkg -i cuda-keyring_1.1-1_all.deb && \
  apt-get update && \
  apt-get install -y --no-install-recommends \
    libcusparselt0 \
    libcusparselt-dev && \
  rm cuda-keyring_1.1-1_all.deb && \
  rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*/apt/lists/*
WORKDIR /root

# Add directories to PATH
# NOTES
# - This is necessary since someone had another brilliant idea consisting in
#   putting trtexec into this non-standard location and omitting an apt hook.
ENV PATH=/usr/src/tensorrt/bin:/usr/local/cuda:${PATH:-}

# Configure Git to accept different ownerships for local repository clones
RUN git config --system --add safe.directory '*'

# Install Java 11
RUN apt-get update && apt-get install -y --no-install-recommends \
  ant \
  openjdk-11-jre \
  openjdk-11-jdk \
  libvecmath-java && \
  rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*/apt/lists/* && \
  update-alternatives --set java $(update-alternatives --list java | grep "java-11")

# Create a Python virtual environment and install packages in it
WORKDIR /opt
RUN --mount=type=bind,source=python/requirements_jetson6_base.txt,target=/opt/requirements_jetson6_base.txt \
  python3 -m venv --system-site-packages dua-venv && \
  . dua-venv/bin/activate && \
  pip install -U -r requirements_jetson6_base.txt && \
  chgrp -R internal /opt/dua-venv && \
  chmod -R g+rw /opt/dua-venv
WORKDIR /root

# Ensure that the Python environment is correctly sourced
# System path is the output of:
# python3 -c "from distutils.sysconfig import get_python_lib; print(get_python_lib())"
ENV PYTHONPATH=/opt/dua-venv/lib/python3.10/site-packages:/usr/lib/python3.8/site-packages

# Configure language and locale
RUN locale-gen en_US.UTF-8 && \
  update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8

# Configure CMake system-wide environment to detect our installations first
ENV CMAKE_PREFIX_PATH=/usr/local

# Build and install Eigen
WORKDIR /opt
COPY scripts/eigen/build_eigen.sh /opt/build_eigen.sh
RUN . dua-venv/bin/activate && \
  /opt/build_eigen.sh 3.4 && \
  chgrp internal /opt/build_eigen.sh && \
  chmod g+rwx /opt/build_eigen.sh && \
  chgrp -R internal /opt/eigen && \
  chmod -R g+rw /opt/eigen
WORKDIR /root

# Build and install OpenCV
WORKDIR /opt
COPY scripts/opencv/build_opencv.jetson6.sh /opt/build_opencv.sh
RUN . dua-venv/bin/activate && \
  /opt/build_opencv.sh 4.11.0 && \
  chgrp internal /opt/build_opencv.sh && \
  chmod g+rwx /opt/build_opencv.sh && \
  chgrp -R internal /opt/opencv && \
  chmod -R g+rw /opt/opencv && \
  chgrp -R internal /opt/opencv_contrib && \
  chmod -R g+rw /opt/opencv_contrib
WORKDIR /root

# Build and install PyTorch
WORKDIR /opt
COPY scripts/jetson/install_pytorch.jetson6.sh /opt/install_pytorch.sh
RUN . dua-venv/bin/activate && \
  /opt/install_pytorch.sh && \
  chgrp internal /opt/install_pytorch.sh && \
  chmod g+rwx /opt/install_pytorch.sh
WORKDIR /root

# Install TensorFlow
WORKDIR /opt
COPY scripts/jetson/install_tensorflow.jetson6.sh /opt/install_tensorflow.sh
RUN . dua-venv/bin/activate && \
  /opt/install_tensorflow.sh && \
  chgrp internal /opt/install_tensorflow.sh && \
  chmod g+rwx /opt/install_tensorflow.sh
WORKDIR /root

# Install remaining packages from pip
# NOTES
# - We have to install some of these manually without dependencies or they will
#   pull in stuff that is already installed, breaking the build; they are
#   - albumentations, for image augmentation
#   - supervision, for training supervision
#   - tensorflowjs, for exporting models to TensorFlow.js
# - This includes ultralytics, which we install without dependencies
#   since we should have already set everything up for it.
# - This includes some visualization tools. They should not be necessary on this
#   platform but it appears that something down the line requires them.
WORKDIR /opt
RUN --mount=type=bind,source=python/requirements_jetson6_dev.txt,target=/opt/requirements_jetson6_dev.txt \
  . dua-venv/bin/activate && \
  pip install supervision==0.25.1 --no-deps && \
  pip install tensorflowjs --no-deps && \
  pip install -U -r requirements_jetson6_dev.txt
WORKDIR /root

# Build and install ONNX Runtime
WORKDIR /opt
COPY scripts/jetson/build_onnxruntime.jetson6.sh /opt/build_onnxruntime.sh
RUN . dua-venv/bin/activate && \
  /opt/build_onnxruntime.sh \
  chgrp internal /opt/build_onnxruntime.sh && \
  chmod g+rwx /opt/build_onnxruntime.sh
WORKDIR /root

# Install Ultralytics
RUN . /opt/dua-venv/bin/activate && \
  pip install ultralytics --no-deps && \
  pip install ultralytics-thop

# Configure Ultralytics to avoid actively pulling packages
ENV ULTRALYTICS_UPDATE_CHECK=False

# Install Rust toolchain
ENV RUSTUP_HOME=/opt/rust
ENV CARGO_HOME=/opt/rust
WORKDIR /opt
COPY scripts/rust/install_rust.sh /opt/install_rust.sh
RUN . dua-venv/bin/activate && \
  /opt/install_rust.sh 1.75.0 && \
  chgrp internal /opt/install_rust.sh && \
  chmod g+rwx /opt/install_rust.sh && \
  chgrp -R internal /opt/rust && \
  chmod -R g+rw /opt/rust
WORKDIR /root

# Install DDS implementations:
# - Fast DDS
# - Cyclone DDS
# NOTES
# - Only C/C++ libraries and support is installed.
# - The versions are fixed to the closest ones supported by ROS 2 Jazzy (below).
# - None of these installations goes to system paths, they remain confined
#   within subdirectories of /opt/dds; see the scripts for details.
#   In case you would like to use these libraries in your projects, you
#   should configure CMake or whatever you use accordingly.
#   This is to enable development with standalone DDS implementations while
#   avoiding to create conflicts with the ROS 2 installation.
WORKDIR /opt
COPY scripts/dds/install_dds.jetson6.sh /opt/install_dds.sh
RUN . dua-venv/bin/activate && \
  /opt/install_dds.sh 2.14.4 0.10.5 && \
  chgrp internal /opt/install_dds.sh && \
  chmod g+rwx /opt/install_dds.sh && \
  chgrp -R internal /opt/dds && \
  chmod -R g+rw /opt/dds
WORKDIR /root
ENV PATH=/opt/dds/Fast-DDS/src/fastddsgen/scripts:/opt/dds/cyclonedds/install/bin:$PATH

# Install Zenoh
WORKDIR /opt
COPY scripts/zenoh/install_zenoh.jetson6.sh /opt/install_zenoh.sh
RUN . dua-venv/bin/activate && \
  /opt/install_zenoh.sh 1.2.1 && \
  chgrp internal /opt/install_zenoh.sh && \
  chmod g+rwx /opt/install_zenoh.sh && \
  chgrp -R internal /opt/zenoh && \
  chmod -R g+rw /opt/zenoh
WORKDIR /root

# Build and install PCL
WORKDIR /opt
COPY scripts/ros2/build_pcl.jetson6.sh /opt/build_pcl.sh
RUN . dua-venv/bin/activate && \
  /opt/build_pcl.sh 1.14.0 && \
  chgrp internal /opt/build_pcl.sh && \
  chmod g+rwx /opt/build_pcl.sh
WORKDIR /root

# Build and install ROS 2
WORKDIR /opt
COPY scripts/ros2/build_ros2.jetson6.sh /opt/build_ros2.sh
COPY scripts/ros2/ros2_jazzy_repos_base.yml /opt/ros2_repos.yml
RUN . dua-venv/bin/activate && \
  /opt/build_ros2.sh /opt/ros2_repos.yml && \
  chgrp internal /opt/build_ros2.sh && \
  chmod g+rwx /opt/build_ros2.sh && \
  chgrp internal /opt/ros2_repos.yml && \
  chmod g+rw /opt/ros2_repos.yml && \
  chgrp -R internal /opt/ros && \
  chmod -R g+rw /opt/ros
WORKDIR /root

# Configure ROS Middleware implementation to use
ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

# Build and install dua-utils
# The ARG allows us to break cache and rebuild from here upon each new version
ARG DUA_UTILS_VERSION=20250322-1626
WORKDIR /opt
COPY scripts/ros2/build_dua_utils.sh /opt/build_dua_utils.sh
COPY scripts/ros2/dua-utils_repos_base.yaml /opt/dua-utils_repos_base.yaml
RUN . dua-venv/bin/activate && \
  /opt/build_dua_utils.sh jazzy /opt/dua-utils_repos_base.yaml && \
  chgrp internal /opt/build_dua_utils.sh && \
  chmod g+rwx /opt/build_dua_utils.sh && \
  chgrp internal /opt/dua-utils_repos_base.yaml && \
  chmod g+rw /opt/dua-utils_repos_base.yaml && \
  chgrp -R internal /opt/ros/dua-utils && \
  chmod -R g+rw /opt/ros/dua-utils
WORKDIR /root

# Mark image as complete
RUN mkdir -p /etc/dua && \
  echo "jetson6" > /etc/dua/target

ENV DEBIAN_FRONTEND=dialog

# Finalize image
LABEL description="DUA base unit for Nvidia Jetson systems (JetPack 6)"
LABEL platform="linux/arm64"
CMD ["bash"]