Dockerfile.iceberg_asv_deployment

#Copyright [2025] [Robert Fudge]
#SPDX-FileCopyrightText: © 2025 Robert Fudge <rnfudge@mun.ca>
#SPDX-License-Identifier: {Apache-2.0}

#Build Issac ROS Image
#https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common/blob/main/
ARG BASE_IMAGE=ubuntu:22.04
FROM ${BASE_IMAGE}

#Maintainer label
LABEL maintainer="Robert Fudge <rnfudge@mun.ca>"
LABEL version="3.0.0"

ARG USERNAME=container-user
ARG USER_UID=1000
ARG USER_GID=1000
ARG PLATFORM=amd64

#Set user and home environment variables
ENV DEBIAN_FRONTEND=noninteractive
ENV USER=${USERNAME}
ENV HOME=/home/${USER}

#Downgrade to Pytorch 2.3.0 - Installing as system packages
RUN if [[ ${PLATFORM} == "arm64" ]] ; then \
    pip3 uninstall -y torch && \
    wget https://nvidia.box.com/shared/static/zvultzsmd4iuheykxy17s4l2n91ylpl8.whl && \
    wget https://nvidia.box.com/shared/static/9si945yrzesspmg9up4ys380lqxjylc3.whl && \
    wget https://nvidia.box.com/shared/static/u0ziu01c0kyji4zz3gxam79181nebylf.whl && \
    mv ./zvultzsmd4iuheykxy17s4l2n91ylpl8.whl /torch-2.3.0-cp310-cp310-linux_aarch64.whl && \
    mv ./9si945yrzesspmg9up4ys380lqxjylc3.whl /torchaudio-2.3.0+952ea74-cp310-cp310-linux_aarch64.whl && \
    mv ./u0ziu01c0kyji4zz3gxam79181nebylf.whl /torchvision-0.18.0a0+6043bc2-cp310-cp310-linux_aarch64.whl && \
    pip3 install --no-cache-dir /torch-2.3.0-cp310-cp310-linux_aarch64.whl && \
    pip3 install --no-cache-dir /torchaudio-2.3.0+952ea74-cp310-cp310-linux_aarch64.whl && \
    pip3 install --no-cache-dir /torchvision-0.18.0a0+6043bc2-cp310-cp310-linux_aarch64.whl \
    && rm -rf /torch-2.3.0-cp310-cp310-linux_aarch64.whl /torchvision-0.18.0a0+6043bc2-cp310-cp310-linux_aarch64.whl; \
fi

#Ensure needed packages are installed
RUN sudo apt update && sudo apt install -y python3-rosdep python3-rosinstall-generator python3-vcstool \
    python3-rosinstall build-essential ros-${ROS_DISTRO}-foxglove-bridge python3-sphinx \
    ros-${ROS_DISTRO}-mavros ros-${ROS_DISTRO}-mavros-extras ros-${ROS_DISTRO}-camera-calibration \
    ros-${ROS_DISTRO}-usb-cam && if [[ $(uname -m) == "aarch64" ]] ; then \
    sudo apt install -y nvidia-cuda-dev; fi

USER ${USER}
WORKDIR ${HOME}/ros_ws/src

RUN git clone https://github.com/mgonzs13/yolov8_ros.git && \
    pip3 install -r yolov8_ros/requirements.txt && \
    git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-master

WORKDIR ${HOME}/ros_ws

RUN sudo apt update && pip3 install -U sphinx && rosdep update && rosdep install -i \
--from-path src --rosdistro ${ROS_DISTRO} --skip-keys=librealsense2 -y && \
source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install

ENTRYPOINT [ "/entrypoint.sh" ]