79 lines
2.8 KiB
Docker
79 lines
2.8 KiB
Docker
# 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"]
|