support ubuntu24 (but there is not tested)

Ar-Ray-code · Ar-Ray-code · commit 37773cde418e · 2024-09-21T16:06:28.000+09:00
diff --git a/yolox_ros_cpp/docker/onnxruntime/docker-compose.yaml b/yolox_ros_cpp/docker/onnxruntime/docker-compose.yaml
@@ -5,17 +5,23 @@ services:
         build:
             context: .
             args:
-                - BASE_TAB=12.1.0-cudnn8-devel-ubuntu22.04
-        image: fateshelled/onnxruntime_yolox_ros:latest
+                - BASE_TAB=12.6.1-cudnn-devel-ubuntu24.04
         network_mode: host
-        runtime: nvidia
+        deploy:
+            resources:
+                reservations:
+                    devices:
+                        - driver: nvidia
+                          count: 1
+                          capabilities: [gpu]
+
         environment:
             - DISPLAY=$DISPLAY
         volumes:
             - $HOME/ros2_ws:/root/ros2_ws
             - /tmp/.X11-unix:/tmp/.X11-unix
-        devices:
-            - "/dev/video0:/dev/video0"
+        # devices:
+        #     - "/dev/video0:/dev/video0"
         working_dir: /root/ros2_ws
         tty: true
         command: bash
diff --git a/yolox_ros_cpp/docker/onnxruntime/dockerfile b/yolox_ros_cpp/docker/onnxruntime/dockerfile
@@ -1,63 +1,47 @@
-ARG BASE_TAG=11.7.1-cudnn8-devel-ubuntu22.04
-FROM nvcr.io/nvidia/cuda:${BASE_TAG}
-ENV	 DEBIAN_FRONTEND=noninteractive
+ARG BASE_TAG=12.6.1-cudnn-devel-ubuntu24.04
+FROM nvidia/cuda:${BASE_TAG}
 
-ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
-RUN apt update && \
-    apt install -y python3-dev python3-pip \
-                   ca-certificates g++ gcc make git aria2 && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/* && \
-    aria2c -q -d /tmp -o cmake-3.21.0-linux-x86_64.tar.gz https://github.com/Kitware/CMake/releases/download/v3.21.0/cmake-3.21.0-linux-x86_64.tar.gz && \
-    tar -zxf /tmp/cmake-3.21.0-linux-x86_64.tar.gz --strip=1 -C /usr
-RUN python3 -m pip install -U pip && \
-    python3 -m pip install -U numpy setuptools wheel && \
-    python3 -m pip cache purge
+ENV TZ=Asia/Tokyo
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+ENV DEBIAN_FRONTEND=noninteractive
 
-WORKDIR /workdir
-RUN git clone --depth 1 --recursive https://github.com/microsoft/onnxruntime -b v1.12.1 && \
-    cd onnxruntime && \
-    ./build.sh --cudnn_home /usr/lib/x86_64-linux-gnu/ \
-               --cuda_home /usr/local/cuda \
-               --use_cuda \
-               --config RelWithDebInfo \
-               --build_shared_lib \
-               --skip_tests && \
-    cd build/Linux/RelWithDebInfo && \
-    make install && \
-    rm -r /workdir/onnxruntime
+ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
 
-# Install ROS2
-RUN apt update && apt install locales && \
+RUN apt update && apt install -y locales git cmake wget curl gnupg2 lsb-release python3-numpy python3-setuptools python3-wheel && \
     locale-gen en_US en_US.UTF-8 && \
     update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
     apt -y clean && \
     rm -rf /var/lib/apt/lists/*
 ENV LANG=en_US.UTF-8
 
-RUN apt update && \
-    apt install -y git wget curl gnupg2 lsb-release && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-    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 && \
-    sed -i -e 's/ubuntu .* main/ubuntu jammy main/g' /etc/apt/sources.list.d/ros2.list && \
-    apt update && \
-    apt install -y ros-dev-tools \
-                    ros-humble-cv-bridge \
-                    ros-humble-generate-parameter-library \
-                    ros-humble-parameter-traits \
-                    ros-humble-ros-base \
-                    ros-humble-rqt-image-view \
-                    ros-humble-v4l2-camera && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/* && \
-    pip install -U pip && \
-    pip install catkin_pkg && \
-    pip install empy && \
-    pip install lark && \
-    python3 -m pip cache purge
+WORKDIR /workdir
+# RUN git clone --depth 1 --recursive https://github.com/microsoft/onnxruntime -b v1.12.1 && \
+#     cd onnxruntime && \
+#     ./build.sh --cudnn_home /usr/lib/x86_64-linux-gnu/ \
+#                --cuda_home /usr/local/cuda \
+#                --use_cuda \
+#                --config RelWithDebInfo \
+#                --build_shared_lib \
+#                --skip_tests && \
+#     cd build/Linux/RelWithDebInfo && \
+#     make install && \
+#     rm -r /workdir/onnxruntime
 
+# RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+#     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 && \
+#     sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list && \
+#     apt update && \
+#     apt install -y ros-dev-tools \
+#                     ros-jazzy-cv-bridge \
+#                     ros-jazzy-generate-parameter-library \
+#                     ros-jazzy-parameter-traits \
+#                     ros-jazzy-ros-base \
+#                     ros-jazzy-rqt-image-view \
+#                     ros-jazzy-usb-cam \
+#                     ros-jazzy-vision-msgs && \
+#     apt -y clean && \
+#     rm -rf /var/lib/apt/lists/*
 
-COPY ./ros_entrypoint.sh /ros_entrypoint.sh
-RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
-# ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
+# WORKDIR /workspace
+# COPY ./ros_entrypoint.sh /ros_entrypoint.sh
+# RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
diff --git a/yolox_ros_cpp/docker/onnxruntime/ros_entrypoint.sh b/yolox_ros_cpp/docker/onnxruntime/ros_entrypoint.sh
@@ -1,3 +1,2 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+source /opt/ros/jazzy/setup.bash
diff --git a/yolox_ros_cpp/docker/openvino/docker-compose.yaml b/yolox_ros_cpp/docker/openvino/docker-compose.yaml
@@ -8,11 +8,10 @@ services:
         environment:
             - DISPLAY=$DISPLAY
         volumes:
-            - ../../../:/root/ros2_ws/src
+            - $HOME/ros2_ws:/root/ros2_ws
             - /tmp/.X11-unix:/tmp/.X11-unix
-        devices:
-            - "/dev/video0:/dev/video0"
+        # devices:
+        #     - "/dev/video0:/dev/video0"
         working_dir: /root/ros2_ws
         tty: true
         command: bash
-
diff --git a/yolox_ros_cpp/docker/openvino/dockerfile b/yolox_ros_cpp/docker/openvino/dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:22.04
+FROM ubuntu:24.04
 
 ENV TZ=Asia/Tokyo
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
@@ -16,30 +16,27 @@ ENV LANG=en_US.UTF-8
 RUN apt update && \
     apt install -y git wget curl gnupg2 lsb-release
 
-# ROS
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
     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 && \
-    sed -i -e 's/ubuntu .* main/ubuntu jammy main/g' /etc/apt/sources.list.d/ros2.list
+    sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list
 # INTEL OPENVINO
 RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
     apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
-    echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-2024.list
+    echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu24 main" | tee /etc/apt/sources.list.d/intel-openvino-2024.list
 
-# install ros and openvino
 RUN apt update && \
     apt install -y openvino-2024.2.0 \
                     ros-dev-tools \
-                    ros-humble-cv-bridge \
-                    ros-humble-generate-parameter-library \
-                    ros-humble-parameter-traits \
-                    ros-humble-ros-base \
-                    ros-humble-rqt-image-view \
-                    ros-humble-v4l2-camera && \
+                    ros-jazzy-cv-bridge \
+                    ros-jazzy-generate-parameter-library \
+                    ros-jazzy-parameter-traits \
+                    ros-jazzy-ros-base \
+                    ros-jazzy-rqt-image-view \
+                    ros-jazzy-usb-cam \
+                    ros-jazzy-vision-msgs && \
     apt -y clean && \
     rm -rf /var/lib/apt/lists/*
 
 WORKDIR /workspace
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
 RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
-# RUN echo "source /opt/intel/openvino/bin/setupvars.sh " >> /root/.bashrc
-CMD ["bash"]
diff --git a/yolox_ros_cpp/docker/openvino/ros_entrypoint.sh b/yolox_ros_cpp/docker/openvino/ros_entrypoint.sh
@@ -1,4 +1,2 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
-
+source /opt/ros/jazzy/setup.bash
diff --git a/yolox_ros_cpp/docker/tensorrt/docker-compose.yaml b/yolox_ros_cpp/docker/tensorrt/docker-compose.yaml
@@ -5,18 +5,23 @@ services:
         build:
             context: .
             args:
-                - TENSORRT_VERSION=10.1
-                - CUDNN_VERSION=9.2
-                - PYTHON_VERSION=3.10
+                - TENSORRT_VERSION=12.6
+                - PYTHON_VERSION=3.12
         network_mode: host
-        runtime: nvidia
+        deploy:
+            resources:
+                reservations:
+                    devices:
+                        - driver: nvidia
+                          count: 1
+                          capabilities: [gpu]
         environment:
             - DISPLAY=$DISPLAY
         volumes:
             - $HOME/ros2_ws:/root/ros2_ws
             - /tmp/.X11-unix:/tmp/.X11-unix
-        devices:
-            - "/dev/video0:/dev/video0"
+        # devices:
+        #     - "/dev/video0:/dev/video0"
         working_dir: /root/ros2_ws
         tty: true
         command: bash
diff --git a/yolox_ros_cpp/docker/tensorrt/dockerfile b/yolox_ros_cpp/docker/tensorrt/dockerfile
@@ -1,8 +1,8 @@
 # pytorch/TensorRT/docker/Dockerfile
 # Base image starts with CUDA
-ARG BASE_IMG=nvidia/cuda:12.4.1-devel-ubuntu22.04
+ARG BASE_IMG=nvidia/cuda:12.6.1-devel-ubuntu24.04
 FROM ${BASE_IMG} as base
-ENV BASE_IMG=nvidia/cuda:12.4.1-devel-ubuntu22.04
+ENV BASE_IMG=nvidia/cuda:12.6.1-devel-ubuntu24.04
 
 ARG TENSORRT_VERSION
 ENV TENSORRT_VERSION=${TENSORRT_VERSION}
@@ -32,8 +32,8 @@ RUN pyenv install -v ${PYTHON_VERSION}
 RUN pyenv global ${PYTHON_VERSION}
 
 # Install TensorRT + dependencies
-RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub
-RUN add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/ /"
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/3bf863cc.pub
+RUN add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/ /"
 RUN apt-get update
 RUN TENSORRT_MAJOR_VERSION=`echo ${TENSORRT_VERSION} | cut -d '.' -f 1` && apt-get install -y tensorrt
 
@@ -48,24 +48,22 @@ ENV LANG=en_US.UTF-8
 
 RUN apt update && \
     apt install -y git wget curl gnupg2 lsb-release && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
     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 && \
-    sed -i -e 's/ubuntu .* main/ubuntu jammy main/g' /etc/apt/sources.list.d/ros2.list && \
+    sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list && \
     apt update && \
-    apt install -y ros-dev-tools \
-                    ros-humble-cv-bridge \
-                    ros-humble-generate-parameter-library \
-                    ros-humble-parameter-traits \
-                    ros-humble-ros-base \
-                    ros-humble-rqt-image-view \
-                    ros-humble-v4l2-camera && \
+    apt install -y openvino-2024.2.0 \
+                    ros-dev-tools \
+                    ros-jazzy-cv-bridge \
+                    ros-jazzy-generate-parameter-library \
+                    ros-jazzy-parameter-traits \
+                    ros-jazzy-ros-base \
+                    ros-jazzy-rqt-image-view \
+                    ros-jazzy-usb-cam \
+                    ros-jazzy-vision-msgs && \
     apt -y clean && \
-    rm -rf /var/lib/apt/lists/* && \
-    pip install -U pip && \
-    pip install catkin_pkg && \
-    pip install empy==3.3.4 && \
-    pip install lark && \
-    python3 -m pip cache purge
+    rm -rf /var/lib/apt/lists/*
 
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
 RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
diff --git a/yolox_ros_cpp/docker/tensorrt/ros_entrypoint.sh b/yolox_ros_cpp/docker/tensorrt/ros_entrypoint.sh
@@ -1,3 +1,2 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+source /opt/ros/jazzy/setup.bash
