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AAU-Space-Robotics / aau-rover

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Upgrade to jetpack 6.0 #5

Open abmoRobotics opened 11 months ago

abmoRobotics commented 11 months ago

Is your feature request related to a problem? Please describe. We have problems installing ros humble packages on ubuntu 20, since they are only compiled for ubuntu 22.0, for this reason we need to upgrade the docker to the newly released jetpack 6.0.

Describe the solution you'd like Upgrade docker container to use jetpack 6.0, so that we run on ubuntu 22.0 instead of ubuntu 20.0 https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base

abmoRobotics commented 9 months ago

Wait for the Production release of Jetpack 6.0 (in preview right now). The reason for this is that we can not build ZED libraries before then.

MadsRossen commented 9 months ago

Questions about the Dockerfiles

@abmoRobotics for what I can see there is two Dockerfiles Base and Rover what is the intention with the separation of the files? What is in image abmorobotics/aau_rover_ros_base:humble ? Some lines of the code seem to come from other places, if true, is there then a place where it can be seen?

abmoRobotics commented 9 months ago

@MadsRossen We've devided the Dockerfiles in two to cut down build time. The Base dockerfile builds ROS humble and Pytorch on the Jetpack 5.1 image - this takes about 8 hours on the ORIN. This is then uploaded to abmorobotics/aau_rover_ros_base:humble so that we do not have to rebuild it. Therefore Base image should remain static unless we need to upgrade the Jetpack version. The Rover dockerfile extends abmorobotics/aau_rover_ros_base:humble by installing the packages we need for AAU Space Robotics Team (takes ~30 min).

The Dockerfiles are inspired by the following links https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html# https://github.com/stereolabs/zed-docker https://github.com/dusty-nv/jetson-containers

Let me know if you have other questions!