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Saurav AgarwalSaurav Agarwal
Saurav Agarwal
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Saurav Agarwal
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update docker settings
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‎doc/manual/installation.md‎

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@@ -76,6 +76,7 @@ docker start -i coverage-control-$USER # Replace with the name of the container
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- `--with-cuda` : With CUDA support
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- `--with-ros` : With ROS support
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- `--noble` : Ubuntu 24.04 Noble
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- `--arm64` : ARM64 architecture
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The base image is `agarwalsaurav/pytorch_base` with different tags for different versions and configurations.
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|`noble-torch2.5.1-cuda12.6.2` | `--with-cuda --noble`|
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|`noble-torch2.5.1-jazzy` | `--with-ros --noble`|
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|`noble-torch2.5.1` | `--noble`|
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|`arm64-jammy-torch2.5.1-humble` | `--arm64`|
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|`arm64-noble-torch2.5.1-jazzy` | `--arm64 --noble`|
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Install the library available on PyPI:

‎doc/manual/lpac.md‎

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@@ -34,7 +34,7 @@ They are similar, except that `data_generation.py` splits the dataset into train
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To generate a dataset, run the following command:
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```bash
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python python/data_generation/data_generation.py \
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${CoverageControl_ws}/lpac/params/data_params.toml
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${CoverageControl_ws}/lpac/params/data_params.toml --split True
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```
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A sample `data_params.toml` file is also provided in the `params` directory of the repository.

utils/docker/base_images/.bashrc renamed to utils/docker/.bashrc

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export LC_ALL=C.UTF-8
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export LANG=C.UTF-8
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export PYTHONPATH=/opt/venv/lib/python3.11/site-packages:$PYTHONPATH
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source /opt/venv/bin/activate

utils/docker/base_images/.ros.humble.bashrc renamed to utils/docker/.ros.bashrc

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@@ -133,10 +133,8 @@ export PYTHONPATH=/opt/venv/lib/python3.10/site-packages:$PYTHONPATH
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export ROS_DOMAIN_ID=7
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export ROS_VERSION=2
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export ROS_DISTRO=humble
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export ROS_PYTHON_VERSION=3
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source /opt/venv/bin/activate
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source /opt/ros/humble/setup.bash
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source /opt/ros/${ROS_DISTRO}/setup.bash
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source /usr/share/colcon_cd/function/colcon_cd.sh
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export _colcon_cd_root=/opt/ros/humble/
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export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/
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source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

‎utils/docker/Dockerfile‎

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ARG BASE_IMAGE=ghcr.io/kumarrobotics/pytorch_base
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ARG BASE_TAG=latest
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ARG SETUP_ARGS="--with-cuda"
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FROM ${BASE_IMAGE}:${BASE_TAG}
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WORKDIR /app
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ADD . .
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RUN ["bash", "-c", "/app/setup.sh ${SETUP_ARGS}"]
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RUN ${VENV_PATH}/bin/pip install coverage_control
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RUN echo "export CoverageControl_ws=/workspace" >> /root/.bashrc
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COPY utils/docker/entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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ENTRYPOINT ["/entrypoint.sh"]
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# RUN export SETUP_ARGS=${SETUP_ARGS} && source ${VENV_PATH}/bin/activate && bash -c "./setup.sh ${SETUP_ARGS}"
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ARG IMAGE_TYPE="cpu"
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ARG CUDA_VERSION="12.4.1"
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ARG UBUNTU_VERSION="22.04"
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FROM nvidia/cuda:${CUDA_VERSION}-devel-ubuntu${UBUNTU_VERSION} AS cuda
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ARG PYTORCH_VERSION="2.5.1"
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ENV PYTORCH_VERSION=${PYTORCH_VERSION}
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COPY requirements.txt /opt/requirements.txt
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RUN mkdir download; \
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wget https://download.pytorch.org/libtorch/cu124/libtorch-win-shared-with-deps-${PYTORCH_VERSION}%2Bcu124.zip -O download/libtorch.zip; \
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unzip download/libtorch.zip -d /opt/; \
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rm -r download
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FROM ubuntu:${UBUNTU_VERSION} AS cpu
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ARG PYTORCH_VERSION="2.5.1"
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ENV PYTORCH_VERSION=${PYTORCH_VERSION}
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COPY requirements_cpu.txt /opt/requirements.txt
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RUN mkdir download; \
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wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-${PYTORCH_VERSION}%2Bcpu.zip -O download/libtorch.zip; \
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unzip download/libtorch.zip -d /opt/; \
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rm -r download
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FROM arm64v8/ubuntu:${UBUNTU_VERSION} AS arm64
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ARG PYTORCH_VERSION="2.5.1"
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ENV PYTORCH_VERSION=${PYTORCH_VERSION}
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COPY requirements_cpu.txt /opt/requirements.txt
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RUN mkdir download; \
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wget https://github.com/AgarwalSaurav/libtorch_arm64/releases/download/v${PYTORCH_VERSION}/libtorch-cxx11-abi-shared-with-deps-${PYTORCH_VERSION}.zip -O download/libtorch.zip; \
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unzip download/libtorch.zip -d /opt/; \
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rm -r download
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FROM ${IMAGE_TYPE} AS base
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ARG PYTHON_VERSION="3.10"
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LABEL maintainer="Saurav Agarwal <[email protected]>"
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LABEL description="Dockerfile for PyTorch GPU and ROS2"
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SHELL ["/bin/bash", "-c"]
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ENV DEBIAN_FRONTEND=noninteractive
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ENV PYTHON_VERSION=${PYTHON_VERSION}
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ENV TERM=xterm-256color
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RUN apt-get update && apt-get install -y apt-utils
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RUN apt-get -y update \
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&& apt-get -y upgrade \
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&& apt-get -y install \
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build-essential \
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git \
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wget \
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gpg \
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curl \
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gdb \
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libbz2-dev \
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software-properties-common \
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ca-certificates \
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lsb-release \
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net-tools iputils-ping \
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locales \
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python${PYTHON_VERSION} \
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python${PYTHON_VERSION}-dev \
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python${PYTHON_VERSION}-venv \
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&& apt-get -y autoremove \
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&& apt-get -y clean autoclean
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# Add repo for installing latest version of cmake
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RUN 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; \
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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 >/dev/null; \
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apt-get -y update; \
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rm /usr/share/keyrings/kitware-archive-keyring.gpg \
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&& apt-get -y install kitware-archive-keyring
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RUN apt-get -y install \
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cmake \
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libgmp-dev \
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libmpfr-dev \
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libboost-all-dev \
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libeigen3-dev \
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libgeos-dev \
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libyaml-cpp-dev \
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vim \
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neovim \
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tmux \
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ffmpeg \
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unzip \
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gnuplot-nox \
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ninja-build \
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libpng-dev \
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libjpeg-dev \
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libopencv-dev \
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python3-opencv \
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&& apt-get -y autoremove \
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&& apt-get -y clean autoclean \
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&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* \
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&& rm -f /var/cache/apt/archives/*.deb \
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&& rm -f /var/cache/apt/archives/parital/*.deb \
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&& rm -f /var/cache/apt/*.bin
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ENV LD_LIBRARY_PATH="/usr/local/lib:/opt/libtorch/lib"
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ENV Torch_DIR=/opt/libtorch/share/cmake/
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RUN python${PYTHON_VERSION} -m venv /opt/venv \
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&& /opt/venv/bin/pip install --no-cache-dir wheel \
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&& /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
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ENV VENV_PATH=/opt/venv
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COPY .bashrc /root/.bashrc
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FROM base AS ros2
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ARG ROS_DISTRO="humble"
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ENV ROS_DISTRO=${ROS_DISTRO}
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RUN apt-get -y update \
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&& add-apt-repository universe \
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&& locale-gen en_US en_US.UTF-8 \
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&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
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&& export LANG=en_US.UTF-8 \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get -y update \
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&& apt-get install -y \
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python3-colcon-common-extensions \
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python3-vcstool \
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python3-pip \
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python3-argcomplete \
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python3-rosdep \
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python3-rosinstall-generator \
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ros-${ROS_DISTRO}-desktop \
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ros-dev-tools \
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ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
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ros-${ROS_DISTRO}-ros-gz \
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ros-${ROS_DISTRO}-ros2bag \
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ros-${ROS_DISTRO}-rosidl-generator-dds-idl \
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&& apt-get -y autoremove \
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&& apt-get -y clean autoclean \
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&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* \
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&& rm -f /var/cache/apt/archives/*.deb \
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&& rm -f /var/cache/apt/archives/parital/*.deb \
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&& rm -f /var/cache/apt/*.bin
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RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark tomli
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RUN echo $'\n\
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export PYTHONPATH=/opt/venv/lib/python${PYTHON_VERSION}/site-packages:$PYTHONPATH\n\
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export ROS_PYTHON_VERSION=3\n\
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export ROS_VERSION=2\n\
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export ROS_DOMAIN_ID=10\n\
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source /opt/ros/${ROS_DISTRO}/setup.bash\n\
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source /usr/share/colcon_cd/function/colcon_cd.sh\n\
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export _colcon_cd_root=/opt/ros/${ROS_DISTRO}' >> /root/.bashrc

‎utils/docker/base_images/.ros.jazzy.bashrc‎

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