docker/Dockerfile - master - SerValera/nti_host

docker/Dockerfile
246 строк7 KB
Valerii Serpiva
defore demo flight on the 1th field. tested with 2 drones
14 июл 2026, 23:24
14 июл 2026, 23:24d4628cd
##############################################
# ROS2 Humble + DDS cyclon set
# Ubuntu 22.04
# HOST DOCKER
##############################################

FROM ubuntu:22.04

# ============================================================
# Environment
# ============================================================
ENV DEBIAN_FRONTEND=noninteractive
ENV LANG=en_US.UTF-8
ENV LC_ALL=en_US.UTF-8
ENV ROS_DISTRO=humble

# ============================================================
# System setup
# ============================================================
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    nano \
    gettext-base \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

# ============================================================
# ROS2 repository
# ============================================================
RUN curl -L -s \
    -o /tmp/ros2-apt-source.deb \
    https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
    && dpkg -i /tmp/ros2-apt-source.deb \
    && rm -f /tmp/ros2-apt-source.deb

# ============================================================
# Core packages
# ============================================================
RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    pkg-config \
    python3 \
    python3-pip \
    python3-dev \
    python3-argcomplete \
    python3-colcon-common-extensions \
    python3-rosdep \
    gettext-base \
    usbutils \
    libssl-dev \
    libusb-1.0-0-dev \
    libudev-dev \
    libgtk-3-dev \
    libgl1-mesa-dev \
    libglu1-mesa-dev \
    libx11-dev \
    libxrandr-dev \
    libxi-dev \
    libxinerama-dev \
    libxcursor-dev \
    libxxf86vm-dev \
    libboost-all-dev \
    libeigen3-dev \
    libgoogle-glog-dev \
    libgflags-dev \
    libatlas-base-dev \
    libsuitesparse-dev \
    libceres-dev \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

# ============================================================
# ROS2 packages
# ============================================================
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-base \
    ros-humble-rviz2 \
    ros-humble-tf-transformations \
    ros-humble-diagnostic-updater \
    ros-humble-image-transport \
    ros-humble-cv-bridge \
    ros-humble-nav-msgs \
    ros-humble-geometry-msgs \
    ros-humble-sensor-msgs \
    ros-humble-domain-bridge \
    ros-dev-tools \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

# ============================================================
# Python packages
# ============================================================
RUN python3 -m pip install --no-cache-dir -U \
    pip \
    numpy \
    psutil

# Optional python aliases
RUN ln -sf /usr/bin/python3 /usr/bin/python && \
    ln -sf /usr/bin/pip3 /usr/bin/pip


# ============================================================
# GUI / OpenGL / GStreamer
# ============================================================
RUN apt-get update && apt-get install -y --no-install-recommends \
    libxext6 \
    libx11-6 \
    libglvnd0 \
    libgl1 \
    libglx0 \
    libegl1 \
    libfuse-dev \
    fuse \
    libpulse-mainloop-glib0 \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-libav \
    gstreamer1.0-gl \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

# ============================================================
# NVIDIA support
# ============================================================
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute



# ============================================================
# User setup
# ============================================================
ARG USERNAME=nti
ARG USER_UID=1000
ARG USER_GID=1000

RUN groupadd --gid ${USER_GID} ${USERNAME} \
    && useradd \
        --uid ${USER_UID} \
        --gid ${USER_GID} \
        --create-home \
        --shell /bin/bash \
        ${USERNAME} \
    && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} \
    && chmod 0440 /etc/sudoers.d/${USERNAME}



# ============================================================
# DDS CycloneDDS setup
# ============================================================

# Install CycloneDDS RMW implementation
RUN apt-get update && apt-get install -y \
    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
    && rm -rf /var/lib/apt/lists/*

# Create CycloneDDS configuration file
RUN mkdir -p /home/nti && \
    cat <<EOF > /home/nti/cyclonedds.xml
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config"
             xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
             xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
  <Domain Id="any">
    <General>
      <Interfaces>
        <NetworkInterface autodetermine="true"
                          priority="default"
                          multicast="default" />
      </Interfaces>
      <AllowMulticast>default</AllowMulticast>
      <MaxMessageSize>65500B</MaxMessageSize>
    </General>

    <Internal>
      <SocketReceiveBufferSize min="10MB"/>
      <Watermarks>
        <WhcHigh>500kB</WhcHigh>
      </Watermarks>
    </Internal>
  </Domain>
</CycloneDDS>
EOF

# Configure kernel/network buffers
RUN cat <<EOF > /etc/sysctl.d/60-zed-buffers.conf
# IP fragmentation settings
net.ipv4.ipfrag_time=3
net.ipv4.ipfrag_high_thresh=134217728

# Increase the maximum receive buffer size for network packets
net.core.rmem_max=2147483647
EOF

# Apply sysctl settings
RUN sysctl -p /etc/sysctl.d/60-zed-buffers.conf || true


# ============================================================
# User environment
# ============================================================
USER ${USERNAME}

ENV HOME=/home/${USERNAME}

WORKDIR ${HOME}

RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
    echo "if [ -f ~/nti_project/ros2_ws/install/setup.bash ]; then source ~/nti_project/ros2_ws/install/setup.bash; fi" >> ~/.bashrc && \
    echo "alias cc='cd ~/nti_project/ros2_ws && colcon build'" >> ~/.bashrc && \
    echo "alias ss='source /opt/ros/${ROS_DISTRO}/setup.bash'" >> ~/.bashrc && \
    echo "alias sbrc='source ~/.bashrc'" >> ~/.bashrc && \
    echo "alias run='/home/nti/nti_project/scripts/run.sh'" >> ~/.bashrc && \
    echo "alias stop='tmux kill-session'" >> ~/.bashrc && \
    echo "sudo sysctl -p /etc/sysctl.d/60-zed-buffers.conf" >> ~/.bashrc


# Set CycloneDDS as default RMW and ROS domain, Export CycloneDDS config path
RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
    echo "export ROS_DOMAIN_ID=200" >>  ~/.bashrc && \   
    echo "export CYCLONEDDS_URI=file:///home/nti/cyclonedds.xml" >> ~/.bashrc


# TODO: ADD 
# sudo apt-get install ros-humble-mavros ros-humble-mavros-extras
# wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
# chmod a+x install_geographiclib_datasets.sh
# sudo bash ./install_geographiclib_datasets.sh

# PyQt5
# sudo apt install -y \
#   python3-pyqt5 \
#   python3-pyqt5.qtopengl \
#   python3-pyqtgraph \
#   python3-opengl \
#   python3-numpy \
#   python3-yaml

CMD ["bash"]