[real] 整理 ROS 2 v2 导航原型

2026-07-27 17:08:54 +08:00
parent 302b6acc64
commit c8aa490b37
69 changed files with 563988 additions and 3 deletions
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+# 使用 ROS2 官方 Humble 基础镜像
+FROM ros:humble-ros-base-jammy
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# 安装 C++ 编译依赖、SocketCAN 调试工具及 Eigen 等核心库
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    can-utils \
+    libyaml-cpp-dev \
+    libeigen3-dev \
+    libusb-1.0-0-dev \
+    libpcl-dev \
+    libopencv-dev \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-pointcloud-to-laserscan \
+    ros-humble-cv-bridge \
+    ros-humble-pcl-conversions \
+    wget \
+    tar \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+# ============================================================================
+# ONNX Runtime — 架构自适应，aarch64 启用 CUDA GPU 加速
+# ============================================================================
+#   - Orin Nano (aarch64): pip 安装 onnxruntime-gpu（含 CUDA EP）
+#   - x86_64 开发机: 下载 CPU-only 预编译包（GPU 不可用）
+WORKDIR /opt
+RUN ARCH=$(uname -m) && \
+    if [ "$ARCH" = "aarch64" ]; then \
+        echo "[ONNX] Installing CUDA-enabled ONNX Runtime for Jetson Orin..." && \
+        pip3 install --no-cache-dir onnxruntime-gpu && \
+        SITE_PKGS=$(python3 -c "import site; print(site.getsitepackages()[0])") && \
+        mkdir -p onnxruntime/include onnxruntime/lib && \
+        cp -r "$SITE_PKGS/onnxruntime/include/"* onnxruntime/include/ && \
+        cp "$SITE_PKGS/onnxruntime/capi/libonnxruntime.so"* onnxruntime/lib/ && \
+        echo "[ONNX] CUDA ONNX Runtime installed."; \
+    else \
+        echo "[ONNX] Installing CPU-only ONNX Runtime for x86_64 dev..." && \
+        wget -q https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-x64-1.16.3.tgz && \
+        tar -zxf onnxruntime-linux-x64-1.16.3.tgz && \
+        mv onnxruntime-linux-x64-1.16.3 onnxruntime && \
+        rm onnxruntime-linux-x64-1.16.3.tgz; \
+    fi
+
+ENV ONNXRUNTIME_DIR=/opt/onnxruntime
+
+# 创建工作空间，将所有 C++ 源码包拷入
+WORKDIR /sim2real_ws/src
+COPY src/sim2real_bringup sim2real_bringup
+COPY src/sim2real_common sim2real_common
+COPY src/sim2real_hw sim2real_hw
+COPY src/sim2real_interfaces sim2real_interfaces
+COPY src/sim2real_runtime sim2real_runtime
+COPY src/odin_ros_driver odin_ros_driver
+COPY src/sim2real_nav2 sim2real_nav2
+
+# 拷贝策略文件与运行脚本
+WORKDIR /sim2real_ws
+COPY policies policies
+COPY start_sim2real.sh start_sim2real.sh
+RUN chmod +x start_sim2real.sh
+
+# 编译 ROS2 工作空间
+SHELL ["/bin/bash", "-c"]
+RUN source /opt/ros/humble/setup.bash && \
+    colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# 拷贝 Docker 入口脚本并设置
+COPY docker_entrypoint.sh /docker_entrypoint.sh
+RUN chmod +x /docker_entrypoint.sh
+
+ENTRYPOINT ["/docker_entrypoint.sh"]
+CMD ["./start_sim2real.sh"]