Docker

build_container.sh

#!/bin/bash
# ref: http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration

# for debug
# set -x 
if [ ! -d ${HOME}/tmp} ]
then
    mkdir ${HOME}/tmp
fi

XAUTH=${HOME}/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | sudo xauth -f $XAUTH nmerge -

# 参数配置
set_container_name="--name=sleipnir"
image_name="sleipnir:latest"

# 文件挂载
set_volumes="--volume=${HOME}/Sleipnir:/Sleipnir:rw"

# 开启端口
vncPORT="-p 15901:5901" 
pycharmPORT="-p 31111:22" 
jupyterPORT="-p 8888:8888" 
tensorboardPORT="-p 6006:6006" 


# 设备限制
set_shm="--shm-size=8G"

docker run -it --gpus all \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --volume="${HOME}/tmp/.X11-unix:${HOME}/tmp/.X11-unix:rw" \
    --privileged \
    ${set_volumes} \
    ${set_network} \
    ${set_shm} \
    ${set_container_name} \
    $image_name
    
    

Dockerfile

# v2.0 2022.3.31
# >>> 基础镜像 >>>
FROM nvidia/cuda:11.1-cudnn8-devel-ubuntu20.04

# >>> 修改源，并安装apt包 >>>
# rm /etc/apt/sources.list.d/*: 删除cuda sources，避免无法update 
RUN sed -i s@/archive.ubuntu.com/@/mirrors.ustc.edu.cn/@g /etc/apt/sources.list \
    && sed -i '37,49d' /etc/apt/sources.list \
    && rm /etc/apt/sources.list.d/* \
    && apt update \
    && DEBIAN_FRONTEND=noninteractive apt install -y \
        apt-utils \
        bash-completion \
        build-essential \
        ca-certificates \
        cmake \
        curl \
        git \
        keyboard-configuration \
        libx11-dev \
        locales \
        lsb-core \
        mlocate \
        nano \
        net-tools \        
        openssh-server \
        software-properties-common \
        vim \
        wget \
        gcc-9 g++-9 gcc-10 g++-10 \
    && rm -rf /var/lib/apt/lists/*

# >>> 安装ROS >>>
RUN DEBIAN_FRONTEND=noninteractive  sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' \
    && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
    && apt update \
    && DEBIAN_FRONTEND=noninteractive apt install -y ros-noetic-desktop-full \
    && echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc \
    && DEBIAN_FRONTEND=noninteractive apt install -y \
        python3-rosdep \
        python3-rosinstall \
        python3-rosinstall-generator \
        python3-wstool \
        python3-pip \
        && rm -rf /var/lib/apt/lists/*

# >>> 安装其他ros包依赖 >>>
RUN apt update \
    && DEBIAN_FRONTEND=noninteractive apt install -y \
        libboost-all-dev \
        libboost-python-dev \
        libeigen3-dev \
        libgeographic-dev \
        libglfw3-dev \
        libglm-dev \
        libgtest-dev \
        libpugixml-dev \
        python3-catkin-tools \
        libpcap-dev \
        ros-noetic-angles \
        ros-noetic-camera-info-manager \
        ros-noetic-ddynamic-reconfigure \
        ros-noetic-diagnostic-updater \
        ros-noetic-geodesy \
        ros-noetic-jsk-recognition-msgs ros-noetic-visualization-msgs \
        ros-noetic-lanelet2 \
        ros-noetic-nav-msgs \
        ros-noetic-nmea-msgs \
        ros-noetic-tf2-sensor-msgs \
    # catkin build的python依赖
    && rm -rf /var/lib/apt/lists/* \
    && pip3 install osrf-pycommon

# >>> nvidia-container-runtime >>>
ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# >>> 安装pip依赖 >>>
RUN pip3 install --no-cache-dir \
    catkin_pkg \
    geographiclib \
    netifaces \
    rospkg \
    defusedxml \
    easydict \
    empy \
    fire \
    gdown \
    matplotlib \
    opencv-python \
    pandas \
    pygeodesy \
    tqdm \
    pybind11[global] \
    && apt update \
    && DEBIAN_FRONTEND=noninteractive apt install -y \
        python3-pyqt5.qtserialport

# >>> 安装和配置vnc server >>>
RUN apt update \
    && DEBIAN_FRONTEND=noninteractive apt install -y \
        tigervnc-common \
        tigervnc-standalone-server \
        tigervnc-xorg-extension \
    && rm -rf /var/lib/apt/lists/* \
    && mkdir -p $HOME/.vnc \
    && echo "admin" | vncpasswd -f >> $HOME/.vnc/passwd && chmod 600 $HOME/.vnc/passwd
    
COPY tigervnc@.service /etc/systemd/system/tigervnc@.service
RUN systemctl enable tigervnc@:1
COPY xstartup /root/.vnc/xstartup

# >>> 安装gnome display manager >>>
RUN apt update \
    && DEBIAN_FRONTEND=noninteractive apt install -y --fix-missing \
        kubuntu-desktop \
    && rm -rf /var/lib/apt/lists/*

# >>> 解决中文显示乱码问题 >>>
ENV LANG=C.UTF-8 LC_ALL=C.UTF-8

# >>> 安装gtsam,osqp,ceres >>>
RUN  cd /tmp \
    && sudo add-apt-repository ppa:borglab/gtsam-release-4.0 -y \
    && sudo apt update \
    && sudo apt install -y libgtsam-dev libgtsam-unstable-dev \
    && DEBIAN_FRONTEND=noninteractive apt update \
    && apt install -y libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev \
    && wget -c http://ceres-solver.org/ceres-solver-2.1.0.tar.gz -O /tmp/ceres-solver-2.1.0.tar.gz \
    && cd /tmp \
    && tar -xzvf ceres-solver-2.1.0.tar.gz \
    && cd /tmp/ceres-solver-2.1.0 \
    && mkdir build && cd build && cmake .. \
    && make -j4 \
    && make install \
    && cd /tmp/ \
    && git clone --depth=1 --recursive https://github.com/osqp/osqp osqp \
    && cd osqp && mkdir build && cd build \
    && cmake .. \
    && make -j4 \
    && make install \
    && rm -rf /tmp/*

# >>> 安装pytorch >>>
# RUN pip3 install --no-cache-dir pip3 install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu113

# >>> 入口点函数 >>>
ENTRYPOINT ["/usr/sbin/init"]