Nekton Docker

Dockerfile

• In Docker, TARGETARCH is a built-in build argument that represents the target architecture (e.g., linux/amd64, linux/arm64, etc.) for the image you are building. This is particularly useful when building multi-architecture images using Docker’s Buildx feature.

Dockerfile

# Stage 1: Build opencv
FROM --platform=$TARGETARCH ubuntu:22.04 AS builder
ARG TARGETARCH
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/New_York
 
RUN mkdir /opencv
 
# install python packages, wget and unzip
RUN apt-get update && apt-get install --no-install-recommends -y \
    python3-dev python3-pip python3-numpy wget unzip
 
# install build dependencies
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev \
    libavformat-dev libswscale-dev  libtbb2 libtbb-dev libjpeg-dev libpng-dev \
    libtiff-dev libdc1394-dev protobuf-compiler libgflags-dev libgoogle-glog-dev \
    libblas-dev libhdf5-serial-dev liblmdb-dev libleveldb-dev liblapack-dev libsnappy-dev \
    libprotobuf-dev libopenblas-dev libgtk2.0-dev libboost-dev libboost-all-dev libeigen3-dev \
    libatlas-base-dev
 
# install ARM only dependency
RUN if [ "${TARGETARCH}" == "arm64" ]; then apt-get install --no-install-recommends -y libne10-10 libne10-dev; fi
 
RUN pip3 install neon
RUN apt-get update && apt-get install --no-install-recommends -y \
    libneon27-dev
RUN apt-get install --no-install-recommends -y libneon27-gnutls-dev
 
# download opencv to the tmp directory
WORKDIR /tmp/
RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.6.0.zip
RUN wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.6.0.zip
RUN unzip opencv.zip; unzip opencv_contrib.zip; mv opencv-4.6.0 opencv; mv opencv_contrib-4.6.0 opencv_contrib
 
# generate neon variable
RUN if [ "${TARGETARCH}" == "arm64" ]; then export USE_NEON=ON; else export USE_NEON=OFF; fi
 
# configure installation options to build and install to /opencv
RUN mkdir opencv/build
WORKDIR /tmp/opencv/build
RUN cmake -D CMAKE_BUILD_TYPE=RELEASE \
          -D CMAKE_INSTALL_PREFIX=/opencv \
          -D ENABLE_NEON="${USE_NEON}" \
          -D ENABLE_TBB=ON \
          -D ENABLE_IPP=ON \
          -D ENABLE_VFVP3=ON \
          -D WITH_OPENMP=ON \
          -D WITH_CSTRIPES=ON \
          -D WITH_OPENCL=ON \
          -D BUILD_NEW_PYTHON_SUPPORT=ON \
          -D BUILD_opencv_python3=ON \
          -D HAVE_opencv_python3=ON \
          -D PYTHON_DEFAULT_EXECUTABLE=/usr/bin/python3 \
          -D OPENCV_EXTRA_MODULES_PATH=/tmp/opencv_contrib/modules ..;
# build opencv
RUN make -j4
# install the built files
RUN make install
 
 
# Stage 2: set up runtime container
FROM --platform=$TARGETARCH tiryoh/ros2-desktop-vnc:humble
ENV ROS_DISTRO=humble
ENV GZ_VERSION=garden
SHELL ["/bin/bash", "-c"]
 
 
# Uninstall the old version of Gazebo 
RUN apt-get update && apt-get  purge ros-humble-gazebo-ros-pkgs ros-humble-ros-ign -y || true && apt autoremove -y
 
# Install Gazebo Garden
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
    && apt-get update \
    && apt-get install gz-garden --no-install-recommends -y
 
# Prepare to build ros_gz from source
RUN mkdir -p /opt/ros_gz_ws/src && cd /opt/ros_gz_ws && git clone --branch humble https://github.com/gazebosim/ros_gz.git ./src
 
# Install ros_gz dependencies
RUN rosdep install -r --from-paths /opt/ros_gz_ws/ -i -y --rosdistro humble
 
# Build ros_gz
RUN cd /opt/ros_gz_ws/ && source /opt/ros/humble/setup.bash && colcon build --packages-up-to ros_gz
 
# Copy over opencv installation
COPY --from=builder /opencv /opencv
RUN cp -r /opencv/lib/python3.10/dist-packages/cv2/ /opt/ros/humble/lib/python3.10/site-packages/cv2
RUN ldconfig /opencv

build.sh

build.sh

#!/bin/bash
 
# Make sure the builder containers are installed, created, and registered by running:
# docker run --privileged --rm tonistiigi/binfmt --install all
# docker buildx create --name mybuilder --use --bootstrap
# docker buildx use mybuilder
 
 
# Choose one of the options below
#TODO: update so the build script takes arguments for load vs push and the tag name
 
# Can't use load with multiple platforms at once so specify the version you want (linux/amd64 or linux/arm64)
#docker buildx build --platform=linux/amd64 -t mwoodward6/nekton:humble --load .
 
# generate and push both versions to dockerhub, make sure to set the tag
docker buildx build --platform linux/amd64,linux/arm64 -t mwoodward6/nekton:humble --push .

start.sh

start.sh

#!/bin/bash
 
# Check if $DISPLAY is not already set by existing install or WSL on Windows 11
if [[ -z "${DISPLAY}" ]]; then
    # if MacOS
    if [[ "$OSTYPE" =~ ^darwin  ]]; then
	export DISPLAY=host.docker.internal:0;
    # WSL on Windows 10
    else
        export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0;
    fi
fi
 
#launch the nekton container
docker-compose up -d;
docker exec -it nekton /bin/bash;
docker-compose stop;

docker-compose.yml

docker-compose.yml

---
version: "2"
services:
  nekton:
    image: mwoodward6/nekton:humble
    container_name: nekton
    environment:
      - DISPLAY=:1.0
      - USER=root
    volumes:
      - <PATH_GOES_HERE>:/nekton_ws/src/NektonSoftware # Replace <PATH_GOES_HERE> with the path to NektonSoftware (If you cloned it to your home directory in WSL this would be ~/NektonSoftware)
    ports:
      - 6080:80
      - 5900:5900
      - 9090:9090
      - 8080:8080
    tty: true
    restart: unless-stopped