adding tensorrt (#10)

Author: Edwardius

.devcontainer/Dockerfile

@@ -6,13 +6,15 @@ ARG UBUNTU_VERSION=22.04
 # ===============================================
 # CPU Base - Standard ROS2 image
 # ===============================================
-FROM ros:${ROS_DISTRO}-ros-base as cpu-base
+FROM ros:${ROS_DISTRO}-ros-base AS cpu-base
 
 # ===============================================
 # GPU Base - CUDA with manual ROS2 install
 # ===============================================
-FROM nvidia/cuda:${CUDA_VERSION}-runtime-ubuntu${UBUNTU_VERSION} as gpu-base
+FROM nvidia/cuda:${CUDA_VERSION}-runtime-ubuntu${UBUNTU_VERSION} AS gpu-base
 ARG ROS_DISTRO
+ARG TENSORRT_RUNTIME_VERSION
+ARG TENSORRT_CUDA_VERSION
 
 # Install ROS2 manually since we're not using the ros: base image
 # Set non-interactive to avoid geographic area prompts
@@ -23,6 +25,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     gnupg2 \
     lsb-release \
     tzdata \
+    wget \
     && ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime \
     && dpkg-reconfigure --frontend noninteractive tzdata \
     && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
@@ -32,10 +35,17 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 ENV DEBIAN_FRONTEND=interactive
 
+# Install Tensorrt Runtime
+RUN curl -fsSL -o cuda-keyring_1.1-1_all.deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb \
+    && dpkg -i cuda-keyring_1.1-1_all.deb \
+    && apt-get update && apt-get install -y --no-install-recommends \
+    libnvinfer-lean10=${TENSORRT_RUNTIME_VERSION}-1+cuda${TENSORRT_CUDA_VERSION} \
+    && rm cuda-keyring_1.1-1_all.deb
+
 # ===============================================
 # Install Common Development Tools from Either Base
 # ===============================================
-FROM ${TARGETARCH:-cpu}-base as dev-tools
+FROM ${TARGETARCH:-cpu}-base AS dev-tools
 
 # Install development tools not in base image
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -69,17 +79,17 @@ WORKDIR /deep_ros_ws
 # ===============================================
 # Add User Configuration
 # ===============================================
-FROM dev-tools as user-conf
+FROM dev-tools AS user-conf
 ARG USERNAME
-ARG USER_GID
-ARG USER_UID
 ARG ROS_DISTRO
 
 # Cater image to user
 SHELL ["/bin/bash", "-c"]
+COPY .env /tmp/.env
 # hadolint ignore=SC2086
-RUN groupadd --gid ${USER_GID} ${USERNAME} \
-    && useradd --uid ${USER_UID} --gid ${USER_GID} -m $USERNAME --shell /bin/bash \
+RUN source /tmp/.env && rm /tmp/.env \
+    && groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME --shell /bin/bash \
     && apt-get update \
     && apt-get install -y --no-install-recommends sudo \
     && echo $USERNAME ALL=\(ALL\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \

.devcontainer/generate_devcontainer.sh

@@ -25,13 +25,20 @@ CUDA_VERSION=${3:-12.4.0}
 UBUNTU_VERSION=${4:-22.04}
 USERNAME=${USER:-vscode}
 
+# TensorRT configuration
+TENSORRT_RUNTIME_VERSION="10.9.0.34"
+# Truncate CUDA version to major.minor for TensorRT
+TENSORRT_CUDA_VERSION="12.8"
+
 echo "Generating devcontainer configuration..."
 echo "ROS Distribution: $ROS_DISTRO"
 echo "Container Type: $CONTAINER_TYPE"
 
 if [ "$CONTAINER_TYPE" = "gpu" ]; then
     echo "CUDA Version: $CUDA_VERSION"
     echo "Ubuntu Version: $UBUNTU_VERSION"
+    echo "TensorRT Runtime Version: $TENSORRT_RUNTIME_VERSION"
+    echo "TensorRT CUDA Version: $TENSORRT_CUDA_VERSION"
 fi
 
 # Generate container name and build args based on type
@@ -42,6 +49,8 @@ if [ "$CONTAINER_TYPE" = "gpu" ]; then
       "TARGETARCH": "gpu",
       "CUDA_VERSION": "'$CUDA_VERSION'",
       "UBUNTU_VERSION": "'$UBUNTU_VERSION'",
+      "TENSORRT_RUNTIME_VERSION": "'$TENSORRT_RUNTIME_VERSION'",
+      "TENSORRT_CUDA_VERSION": "'$TENSORRT_CUDA_VERSION'",
       "USER_UID": "'$(id -u)'",
       "USER_GID": "'$(id -g)'"'
     RUN_ARGS='"--network=host",

.gitignore

@@ -10,3 +10,8 @@ log/
 # Claude helpers
 .claude/
 CLAUDE.md
+
+# VScode artifacts
+browse.vc.db
+browse.vc.db-shm
+browse.vc.db-wal

.vscode/tasks.json

@@ -76,11 +76,15 @@
       "type": "pickString",
       "description": "Select CUDA version",
       "options": [
+        "12.8.0",
         "12.6.2",
+        "12.5.1",
+        "12.4.1",
         "12.4.0",
+        "12.3.2",
         "12.2.2",
         "12.1.1",
-        "11.8.0"
+        "12.0.1"
       ],
       "default": "12.4.0"
     },