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Merge pull request #116 from lbr-stack/feature/roboreg-111/remove_ros
remove ROS from Docker
2 parents 87235ed + b7fe5e1 commit 3cbffd0

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‎.docker/Dockerfile‎

Lines changed: 48 additions & 136 deletions
Original file line numberDiff line numberDiff line change
@@ -1,161 +1,73 @@
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# Build arguments for version configuration
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ARG UBUNTU_VERSION=24.04
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ARG CUDA_VERSION=13.1.0
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ARG ROS_DISTRO=jazzy
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ARG PYTORCH_VERSION=2.6.0
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ARG CUDA_VERSION=12.4
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FROM ubuntu:${UBUNTU_VERSION} AS builder
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# Re-declare ARG after FROM to make it available in this stage
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ARG ROS_DISTRO
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ARG UBUNTU_VERSION
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FROM pytorch/pytorch:${PYTORCH_VERSION}-cuda${CUDA_VERSION}-cudnn9-runtime
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# setup
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=${ROS_DISTRO}
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# install build dependencies
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RUN apt-get update \
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# add ROS 2 sources, see e.g. https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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&& apt-get install -y \
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software-properties-common \
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&& add-apt-repository universe \
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&& apt-get update \
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&& apt-get install -y \
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curl \
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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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update \
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# install build tools (unavailable in base image and only required for builder stage)
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&& apt-get install -y \
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git \
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cmake \
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python3 \
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python3-venv \
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python3-pip \
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# install minimal ROS 2 build utilities
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# remove ament_cmake_pytest on https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/372
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&& apt-get install -y \
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python3-colcon-common-extensions \
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ros-${ROS_DISTRO}-ament-cmake \
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ros-${ROS_DISTRO}-ament-cmake-pytest \
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&& rm -rf /var/lib/apt/lists/*
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# create ubuntu user (only needed for Ubuntu 22.04 as it doesn't exist in base image)
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# Note: Ubuntu 24.04 base images already include the ubuntu user with uid=1000, gid=1000
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RUN if [ "$UBUNTU_VERSION" = "22.04" ]; then \
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groupadd --gid 1000 ubuntu \
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&& useradd --uid 1000 --gid 1000 -m ubuntu; \
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fi
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# non-root user installation stuff
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USER ubuntu
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WORKDIR /home/ubuntu
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# setup
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COPY --chown=ubuntu:ubuntu . ./roboreg
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ENV PIP_NO_CACHE_DIR=1
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SHELL ["/bin/bash", "-c"]
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59-
# clone the LBR-Stack and xarm source code for robot description only
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RUN mkdir -p roboreg-deployment/src \
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&& git clone \
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--depth 1 \
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-b $ROS_DISTRO \
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https://github.com/lbr-stack/lbr_fri_ros2_stack.git roboreg-deployment/src/lbr_fri_ros2_stack \
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&& git clone \
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--depth 1 \
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-b $ROS_DISTRO \
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--recursive \
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--shallow-submodules \
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https://github.com/xArm-Developer/xarm_ros2.git roboreg-deployment/src/xarm_ros2
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# create a virtual environment and install roboreg
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RUN cd roboreg-deployment \
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&& python3 -m venv roboreg-venv \
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&& touch roboreg-venv/COLCON_IGNORE \
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&& cd .. \
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&& source roboreg-deployment/roboreg-venv/bin/activate \
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&& pip3 install roboreg/ \
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&& rm -rf /home/ubuntu/.cache/pip
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# install robot description files
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RUN cd roboreg-deployment \
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&& source /opt/ros/${ROS_DISTRO}/setup.bash \
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&& colcon build \
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--cmake-args -DBUILD_TESTING=0 \
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--packages-select \
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xarm_description \
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lbr_description \
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&& rm -rf \
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roboreg-deployment/build \
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roboreg-deployment/log \
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roboreg-deployment/src \
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/home/ubuntu/.cache \
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/tmp/*
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FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${UBUNTU_VERSION} AS runtime
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# Re-declare ARGs after FROM to make them available in this stage
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ARG CUDA_VERSION
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ARG UBUNTU_VERSION
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ARG ROS_DISTRO
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# setup
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=${ROS_DISTRO}
106-
# create ubuntu user and add to sudoers (only needed for Ubuntu 22.04 as it doesn't exist in base image)
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# Note: Ubuntu 24.04 CUDA base images already include the ubuntu user with uid=1000, gid=1000
108-
RUN if [ "$UBUNTU_VERSION" = "22.04" ]; then \
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groupadd --gid 1000 ubuntu \
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&& useradd --uid 1000 --gid 1000 -m ubuntu; \
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fi \
10+
# create ubuntu user only if it doesn't exist yet
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RUN getent group ubuntu || groupadd --gid 1000 ubuntu \
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&& id -u ubuntu >/dev/null 2>&1 || useradd --uid 1000 --gid 1000 -m ubuntu \
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# add ubuntu to sudoers: https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo ubuntu ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/ubuntu \
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&& chmod 0440 /etc/sudoers.d/ubuntu \
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&& rm -rf /var/lib/apt/lists/*
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119-
# install runtime dependencies
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# install dependencies (most for displaying, can be removed if not needed)
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RUN apt-get update \
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# add ROS 2 sources, see e.g. https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
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&& apt-get install -y \
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software-properties-common \
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&& add-apt-repository universe \
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&& apt-get update \
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&& apt-get install -y \
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curl \
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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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
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&& apt-get update \
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# install minimal runtime utilities
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# install build tools (unavailable in base image and only required for builder stage)
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&& apt-get install -y \
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python3 \
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ros-${ROS_DISTRO}-ament-index-python \
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ros-${ROS_DISTRO}-xacro \
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libgl1 \
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libxrender1 \
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# python3-setuptools only needed for Ubuntu 22.04
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&& if [ "$UBUNTU_VERSION" = "22.04" ]; then \
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apt-get install -y python3-setuptools; \
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fi \
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libx11-6 \
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libxext6 \
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libxrender1 \
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libxrandr2 \
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libxinerama1 \
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libxcursor1 \
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libxfixes3 \
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libxi6 \
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libgl1 \
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libgl1-mesa-dri \
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libglx-mesa0 \
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libegl1 \
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libglib2.0-0 \
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libfontconfig1 \
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libfreetype6 \
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libdbus-1-3 \
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mesa-utils \
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x11-apps \
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&& rm -rf /var/lib/apt/lists/*
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# copy roboreg-deployment from builder stage
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COPY --chown=ubuntu:ubuntu --from=builder /home/ubuntu/roboreg-deployment/roboreg-venv /home/ubuntu/roboreg-deployment/roboreg-venv
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COPY --chown=ubuntu:ubuntu --from=builder /home/ubuntu/roboreg-deployment/install /home/ubuntu/roboreg-deployment/install
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COPY --chown=ubuntu:ubuntu --from=builder /home/ubuntu/roboreg/test/assets /home/ubuntu/sample-data
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# non-root user
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# non-root user installation stuff
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USER ubuntu
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WORKDIR /home/ubuntu
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# source ROS 2 workspace
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RUN echo "source /home/ubuntu/roboreg-deployment/install/setup.bash" >> .bashrc
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RUN echo "source /home/ubuntu/roboreg-deployment/roboreg-venv/bin/activate" >> .bashrc
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# setup
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COPY --chown=ubuntu:ubuntu . ./roboreg
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ENV PIP_NO_CACHE_DIR=1
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SHELL ["/bin/bash", "-c"]
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# extend PATH (for CLI)
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ENV PATH="$PATH:/home/ubuntu/roboreg-deployment/roboreg-venv/bin"
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ENV PATH="$PATH:/home/ubuntu/.local/bin"
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56+
# install roboreg (to use cached libraries, break system packages for Ubuntu 24.04)
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RUN UBUNTU_VERSION=$(grep -oP '(?<=VERSION_ID=")[^"]+' /etc/os-release) && \
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echo "Detected Ubuntu $UBUNTU_VERSION" && \
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if [ "$UBUNTU_VERSION" = "24.04" ]; then \
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pip install --upgrade pip setuptools wheel --break-system-packages && \
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pip install roboreg/ --no-build-isolation --break-system-packages; \
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else \
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pip install --upgrade pip setuptools wheel && \
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pip install roboreg/ --no-build-isolation; \
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fi \
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&& rm -rf /home/ubuntu/.cache/pip
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# copy sample data
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RUN mkdir sample-data \
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&& cp -r roboreg/test/assets/* sample-data/
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# run inside the roboreg folder (where data is located)
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CMD ["/bin/bash"]

‎.github/workflows/docker.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -12,13 +12,19 @@ jobs:
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strategy:
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matrix:
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include:
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- ubuntu_version: "22.04"
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cuda_version: "12.4.1"
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ros_distro: "humble"
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- ubuntu_version: "24.04"
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cuda_version: "13.1.0"
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ros_distro: "jazzy"
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- pytorch_version: "2.6.0"
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cuda_version: "12.4"
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- pytorch_version: "2.10.0"
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cuda_version: "13.0"
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steps:
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- name: Free disk space
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run: |
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sudo rm -rf /usr/share/dotnet
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sudo rm -rf /opt/ghc
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sudo rm -rf /usr/local/lib/android
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sudo rm -rf /usr/local/.ghcup
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df -h
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- name: Login to GitHub Container Registry
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uses: docker/login-action@v3
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with:
@@ -38,10 +44,9 @@ jobs:
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platforms: linux/amd64
3945
file: .docker/Dockerfile
4046
build-args: |
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UBUNTU_VERSION=${{ matrix.ubuntu_version }}
47+
PYTORCH_VERSION=${{ matrix.pytorch_version }}
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CUDA_VERSION=${{ matrix.cuda_version }}
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ROS_DISTRO=${{ matrix.ros_distro }}
4449
push: ${{ github.ref == 'refs/heads/main' }}
4550
tags: |
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roboreg:${{ matrix.ubuntu_version }}
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ghcr.io/lbr-stack/roboreg:${{ matrix.ubuntu_version }}
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roboreg:cuda-${{ matrix.cuda_version }}
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ghcr.io/lbr-stack/roboreg:cuda-${{ matrix.cuda_version }}

‎README.md‎

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@@ -94,21 +94,19 @@ Next:
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docker build \
9595
-t roboreg:latest \
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-f .docker/Dockerfile \
97-
--build-arg UBUNTU_VERSION=24.04 \
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--build-arg CUDA_VERSION=13.1.0 \
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--build-arg ROS_DISTRO=jazzy \
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--build-arg PYTORCH_VERSION=2.10.0 \
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--build-arg CUDA_VERSION=13.0 \
10099
.
101100
```
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103-
For Ubuntu 22.04 with ROS 2 Humble and CUDA 12.4.1, use:
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For CUDA 12.4, use:
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```shell
106105
docker build \
107106
-t roboreg:latest \
108107
-f .docker/Dockerfile \
109-
--build-arg UBUNTU_VERSION=22.04 \
110-
--build-arg CUDA_VERSION=12.4.1 \
111-
--build-arg ROS_DISTRO=humble \
108+
--build-arg PYTORCH_VERSION=2.6.0 \
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--build-arg CUDA_VERSION=12.4 \
112110
.
113111
```
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