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dusty-nv / jetson-containers

Machine Learning Containers for NVIDIA Jetson and JetPack-L4T
MIT License
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Help needed with custom docker image based on dustynv/ros:humble-ros-base-l4t-r32.7.1 #539

Open KalanaRatnayake opened 6 months ago

KalanaRatnayake commented 6 months ago

I am working on building a custom docker image deployable to a Jetson nano. At the moment I am simply copying the src folder of the ros workspace and hope to build (including colcon build) it before pushing to the docker hub, so that i can simply pull on jetson nano side. Please help me to figure out what I am doing wrong. At the moment, ros_entrypoint.sh is as follows,

#!/bin/bash
set -e

ros_env_setup="/opt/ros/$ROS_DISTRO/setup.bash"
catkin_env_setup="$WORKSPACE/install/setup.bash"

echo "sourcing   $ros_env_setup"
source "$ros_env_setup"

echo "sourcing   $catkin_env_setup"
source "$catkin_env_setup"

echo "ROS_ROOT   $ROS_ROOT"
echo "ROS_DISTRO $ROS_DISTRO"

exec "$@"

When i use the following dockerfile,

FROM dustynv/ros:humble-ros-base-l4t-r32.7.1

ENV WORKSPACE=/home/workspace
ENV ROS_VERSION=humble
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

WORKDIR /

RUN mkdir -p ${WORKSPACE}/src

COPY ./src ${WORKSPACE}/src

RUN cd ${WORKSPACE} && colcon build 

# setup entrypoint
COPY ./ros_entrypoint.sh /ros_entrypoint.sh
RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> .bashrc
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

I get following error,

 => ERROR [4/7] RUN cd /home/workspace && colcon build                                                                                                                    8.1s
------                                                                                                                                                                         
 > [4/7] RUN cd /home/workspace && colcon build:                                                                                                                               
3.063 Starting >>> test                                                                                                                                                        
7.872 --- stderr: test                                                                                                                                                         
7.872 CMake Error at CMakeLists.txt:9 (find_package):                                                                                                                          
7.872   By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project                                                                                             
7.872   has asked CMake to find a package configuration file provided by
7.872   "ament_cmake", but CMake did not find one.
7.872 
7.872   Could not find a package configuration file provided by "ament_cmake" with
7.872   any of the following names:
7.872 
7.872     ament_cmakeConfig.cmake
7.872     ament_cmake-config.cmake
7.872 
7.872   Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
7.872   "ament_cmake_DIR" to a directory containing one of the above files.  If
7.872   "ament_cmake" provides a separate development package or SDK, be sure it
7.872   has been installed.
7.872 
7.872 
7.872 ---
7.873 Failed   <<< test [4.81s, exited with code 1]
7.971 
7.971 Summary: 0 packages finished [5.42s]
7.971   1 package failed: test
7.971   1 package had stderr output: test
------
jetsonnano-humble-darkent-ros.Dockerfile:13
--------------------
  11 |     COPY ./src ${WORKSPACE}/src
  12 |     
  13 | >>> RUN cd ${WORKSPACE} && colcon build 
  14 |     
  15 |     # setup entrypoint
--------------------
ERROR: failed to solve: process "/dev/.buildkit_qemu_emulator /bin/bash -c cd ${WORKSPACE} && colcon build" did not complete successfully: exit code: 1

If i change the dockerfile to following,

FROM dustynv/ros:humble-ros-base-l4t-r32.7.1

ENV WORKSPACE=/home/workspace
ENV ROS_VERSION=humble
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

WORKDIR /

RUN mkdir -p ${WORKSPACE}/src

COPY ./src ${WORKSPACE}/src

RUN . ${ROS_ROOT}/setup.bash \
    && cd ${WORKSPACE} \
    && colcon build 

# setup entrypoint
COPY ./ros_entrypoint.sh /ros_entrypoint.sh
RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> .bashrc
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

The error changes to following

 => ERROR [4/7] RUN . /opt/ros/humble/setup.bash     && cd /home/workspace     && colcon build                                                                            0.2s
------                                                                                                                                                                         
 > [4/7] RUN . /opt/ros/humble/setup.bash     && cd /home/workspace     && colcon build:
0.124 /bin/bash: /opt/ros/humble/setup.bash: No such file or directory
------
jetsonnano-humble-darkent-ros.Dockerfile:13
--------------------
  12 |     
  13 | >>> RUN . ${ROS_ROOT}/setup.bash \
  14 | >>>     && cd ${WORKSPACE} \
  15 | >>>     && colcon build 
  16 |     
--------------------
ERROR: failed to solve: process "/dev/.buildkit_qemu_emulator /bin/bash -c . ${ROS_ROOT}/setup.bash     && cd ${WORKSPACE}     && colcon build" did not complete successfully: exit code: 1

If I change the ros_entrypoint.sh to 

#!/bin/bash
set -e

ros_env_setup="/opt/ros/$ROS_DISTRO/setup.bash"
catkin_env_setup="$WORKSPACE/install/setup.bash"

echo "sourcing   $ros_env_setup"
source "$ros_env_setup"

colcon build

echo "sourcing   $catkin_env_setup"
source "$catkin_env_setup"

echo "ROS_ROOT   $ROS_ROOT"
echo "ROS_DISTRO $ROS_DISTRO"

exec "$@"

and Dockerfile to 

#!/bin/bash
set -e

ros_env_setup="/opt/ros/$ROS_DISTRO/setup.bash"
catkin_env_setup="$WORKSPACE/install/setup.bash"

echo "sourcing   $ros_env_setup"
source "$ros_env_setup"

colcon build

echo "sourcing   $catkin_env_setup"
source "$catkin_env_setup"

echo "ROS_ROOT   $ROS_ROOT"
echo "ROS_DISTRO $ROS_DISTRO"

exec "$@"

It succeeds with following output.

 => [internal] load build definition from jetsonnano-humble-darkent-ros.Dockerfile                                                                                        0.0s
 => => transferring dockerfile: 448B                                                                                                                                      0.0s
 => [internal] load metadata for docker.io/dustynv/ros:humble-ros-base-l4t-r32.7.1                                                                                        0.9s
 => [internal] load .dockerignore                                                                                                                                         0.0s
 => => transferring context: 2B                                                                                                                                           0.0s
 => [1/6] FROM docker.io/dustynv/ros:humble-ros-base-l4t-r32.7.1@sha256:110e55a4671fd90ad47dc1ab19fd67a98c780307e38ba4a4acc3c5efe317adc1                                  0.0s
 => => resolve docker.io/dustynv/ros:humble-ros-base-l4t-r32.7.1@sha256:110e55a4671fd90ad47dc1ab19fd67a98c780307e38ba4a4acc3c5efe317adc1                                  0.0s
 => [internal] load build context                                                                                                                                         0.0s
 => => transferring context: 652B                                                                                                                                         0.0s
 => CACHED [2/6] RUN mkdir -p /home/workspace/src                                                                                                                         0.0s
 => CACHED [3/6] COPY ./src /home/workspace/src                                                                                                                           0.0s
 => [4/6] COPY ./ros_entrypoint.sh /ros_entrypoint.sh                                                                                                                     0.0s
 => [5/6] RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> .bashrc                                                                                                  0.1s
 => exporting to image                                                                                                                                                    8.5s
 => => exporting layers                                                                                                                                                   0.0s
 => => exporting manifest sha256:7c2b6b4c3519bf218bebe90d78431ee4561606dbe4f31f2076d7cf6653d7f279                                                                         0.0s
 => => exporting config sha256:306a3fa19427e95c789174f1b5e76f8028addb7227f079ad03f676c120f0d8e1                                                                           0.0s
 => => exporting attestation manifest sha256:ce82492198fa30e913e0b6d2f0d67cd95aa187a75e88feaa76701479bbbdcb68                                                             0.0s
 => => exporting manifest list sha256:f20a55374e479ff163ba897d5bfba7fa835067e516632adeded31f061b6b1bdb                                                                    0.0s
 => => pushing layers                                                                                                                                                     5.9s
 => => pushing manifest for docker.io/kalanarat/darknet:ros-humble-jetson-nano@sha256:f20a55374e479ff163ba897d5bfba7fa835067e516632adeded31f061b6b1bdb                    2.5s
 => [auth] kalanarat/darknet:pull,push token for registry-1.docker.io

But it defeats the purpose of offloading the compiling from the jetson nano i guess. I am attempting to build this via buildx on a amd64 machine.

Is there a way to build this and push to docker hub as i need or, is the last approach only viable?

KalanaRatnayake commented 5 months ago

This is no longer necessary. Managed to implement this without issue.