chrissunny94 · March 13, 2025 08:39 · chrissunny94 · Mar 13, 2025 · chrissunny94 · Mar 13, 2025
diff --git a/Dockerfile_for_Autoware_CUDA b/Dockerfile_for_Autoware_CUDA
 # Use NVIDIA CUDA 11.8 base image with Ubuntu 22.04
 FROM nvidia/cuda:11.8.0-devel-ubuntu22.04

 # Set noninteractive mode for apt
 ENV DEBIAN_FRONTEND=noninteractive

 # Install basic utilities and dependencies
 RUN apt update && apt install -y \
    curl gnupg2 lsb-release \
    git cmake build-essential \
    python3-pip python3-venv python3-dev \
    libglfw3-dev libglew-dev libeigen3-dev \
    libjsoncpp-dev libtbb-dev libgtest-dev \
    && rm -rf /var/lib/apt/lists/*
 RUN apt update && apt install -y software-properties-common

 # RUN apt update && apt install -y curl gnupg2 lsb-release \
 #     && curl -sSL 'http://repo.ros2.org/repos.key' | apt-key add - \
 #     && sh -c 'echo "deb http://packages.ros2.org/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list' \
 #     && apt update

 # Properly add ROS 2 repository
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | tee /usr/share/keyrings/ros-archive-keyring.gpg > /dev/null \
    && echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
    | tee /etc/apt/sources.list.d/ros2.list > /dev/null

 # Update package lists
 RUN apt update

 # Install ROS 2 Humble and dependencies
 RUN apt install -y ros-humble-ros-base

 # Now install colcon
 RUN apt install -y python3-colcon-common-extensions

 # Ensure CUDA paths are set correctly
 ENV CUDA_HOME=/usr/local/cuda
 ENV PATH="${CUDA_HOME}/bin:${PATH}"
 ENV LD_LIBRARY_PATH="${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}"

 # Verify CUDA installation
 RUN echo "Checking CUDA installation..." && nvcc --version

 # Set up ROS 2 Humble sources (Fixed: Replaced deprecated `apt-key`)
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | tee /usr/share/keyrings/ros-archive-keyring.gpg > /dev/null && \
    echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

 # Install ROS 2 Humble
 RUN apt update && apt install -y \
    ros-humble-ros-base \
    && rm -rf /var/lib/apt/lists/*

 # Source ROS setup
 RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc

 # Create a virtual environment
 RUN python3 -m venv /opt/venv

 # Install Python dependencies
 RUN /opt/venv/bin/pip install --upgrade pip && \
    /opt/venv/bin/pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 && \
    /opt/venv/bin/pip install numpy pyyaml scipy tensorboard matplotlib tqdm opencv-python && \
    /opt/venv/bin/pip install sympy pandas scikit-learn

 # Remove existing TensorRT if present
 RUN dpkg -l | grep -E 'libnvinfer|tensorrt' && \
    apt remove --purge -y $(dpkg -l | awk '/libnvinfer|tensorrt/ {print $2}') || \
    echo "TensorRT not installed, skipping removal"

 # Clean up unnecessary dependencies
 RUN apt autoremove -y

 # Install TensorRT (pinned to CUDA 11.8)
 RUN apt update && apt install -y \
    tensorrt \
    python3-libnvinfer \
    libnvinfer-dev \
    software-properties-common \
    wget
 RUN rm -rf /var/lib/apt/lists/*
 #RUN apt install -y cuda-toolkit-11-8
 RUN rm -f /usr/share/keyrings/cuda-keyring.gpg /usr/share/keyrings/cuda-archive-keyring.gpg
 RUN  add-apt-repository -y ppa:graphics-drivers/ppa 
 #RUN wget -qO - https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub | tee /usr/share/keyrings/cuda-keyring.gpg > /dev/null 
 RUN wget -qO - https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring.gpg | tee /usr/share/keyrings/cuda-archive-keyring.gpg > /dev/null


 RUN echo "deb [signed-by=/usr/share/keyrings/cuda-keyring.gpg] https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/ /" | tee /etc/apt/sources.list.d/cuda.list && 
 RUN apt update 
 #RUN     apt install -y cuda-toolkit-11-8


 # Set working directory
 WORKDIR /workspace
 RUN nvcc --version
 RUN nvidia-smi
 RUN colcon build


 # Copy project files into the container
 COPY . /workspace

 # Default command
 CMD ["/bin/bash"]
	# Use NVIDIA CUDA 11.8 base image with Ubuntu 22.04
	FROM nvidia/cuda:11.8.0-devel-ubuntu22.04

	# Set noninteractive mode for apt
	ENV DEBIAN_FRONTEND=noninteractive

	# Install basic utilities and dependencies
	RUN apt update && apt install -y \
	curl gnupg2 lsb-release \
	git cmake build-essential \
	python3-pip python3-venv python3-dev \
	libglfw3-dev libglew-dev libeigen3-dev \
	libjsoncpp-dev libtbb-dev libgtest-dev \
	&& rm -rf /var/lib/apt/lists/*
	RUN apt update && apt install -y software-properties-common

	# RUN apt update && apt install -y curl gnupg2 lsb-release \
	# && curl -sSL 'http://repo.ros2.org/repos.key' \| apt-key add - \
	# && sh -c 'echo "deb http://packages.ros2.org/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list' \
	# && apt update

	# Properly add ROS 2 repository
	RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \| tee /usr/share/keyrings/ros-archive-keyring.gpg > /dev/null \
	&& echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
	\| tee /etc/apt/sources.list.d/ros2.list > /dev/null

	# Update package lists
	RUN apt update

	# Install ROS 2 Humble and dependencies
	RUN apt install -y ros-humble-ros-base

	# Now install colcon
	RUN apt install -y python3-colcon-common-extensions

	# Ensure CUDA paths are set correctly
	ENV CUDA_HOME=/usr/local/cuda
	ENV PATH="${CUDA_HOME}/bin:${PATH}"
	ENV LD_LIBRARY_PATH="${CUDA_HOME}/lib64:${LD_LIBRARY_PATH}"

	# Verify CUDA installation
	RUN echo "Checking CUDA installation..." && nvcc --version

	# Set up ROS 2 Humble sources (Fixed: Replaced deprecated `apt-key`)
	RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \| tee /usr/share/keyrings/ros-archive-keyring.gpg > /dev/null && \
	echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \| tee /etc/apt/sources.list.d/ros2.list > /dev/null

	# Install ROS 2 Humble
	RUN apt update && apt install -y \
	ros-humble-ros-base \
	&& rm -rf /var/lib/apt/lists/*

	# Source ROS setup
	RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc

	# Create a virtual environment
	RUN python3 -m venv /opt/venv

	# Install Python dependencies
	RUN /opt/venv/bin/pip install --upgrade pip && \
	/opt/venv/bin/pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 && \
	/opt/venv/bin/pip install numpy pyyaml scipy tensorboard matplotlib tqdm opencv-python && \
	/opt/venv/bin/pip install sympy pandas scikit-learn

	# Remove existing TensorRT if present
	RUN dpkg -l \| grep -E 'libnvinfer\|tensorrt' && \
	apt remove --purge -y $(dpkg -l \| awk '/libnvinfer\|tensorrt/ {print $2}') \|\| \
	echo "TensorRT not installed, skipping removal"

	# Clean up unnecessary dependencies
	RUN apt autoremove -y

	# Install TensorRT (pinned to CUDA 11.8)
	RUN apt update && apt install -y \
	tensorrt \
	python3-libnvinfer \
	libnvinfer-dev \
	software-properties-common \
	wget
	RUN rm -rf /var/lib/apt/lists/*
	#RUN apt install -y cuda-toolkit-11-8
	RUN rm -f /usr/share/keyrings/cuda-keyring.gpg /usr/share/keyrings/cuda-archive-keyring.gpg
	RUN add-apt-repository -y ppa:graphics-drivers/ppa
	#RUN wget -qO - https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub \| tee /usr/share/keyrings/cuda-keyring.gpg > /dev/null
	RUN wget -qO - https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring.gpg \| tee /usr/share/keyrings/cuda-archive-keyring.gpg > /dev/null


	RUN echo "deb [signed-by=/usr/share/keyrings/cuda-keyring.gpg] https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/ /" \| tee /etc/apt/sources.list.d/cuda.list &&
	RUN apt update
	#RUN apt install -y cuda-toolkit-11-8


	# Set working directory
	WORKDIR /workspace
	RUN nvcc --version
	RUN nvidia-smi
	RUN colcon build


	# Copy project files into the container
	COPY . /workspace

	# Default command
	CMD ["/bin/bash"]
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