open-vocab-shared-autonomy/Dockerfile.zed at main · murilo-vinicius04/open-vocab-shared-autonomy · GitHub

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# ===== ZED Camera Docker Image for Isaac ROS NITROS (x86_64 / Humble) =====
FROM stereolabs/zed:5.0-devel-cuda12.8-ubuntu22.04

# Environment configuration
ENV DEBIAN_FRONTEND=noninteractive \
    TZ=Etc/UTC \
    LANG=C.UTF-8 \
    LC_ALL=C.UTF-8 \
    # Ensure LFS performs automatic smudge
    GIT_LFS_SKIP_SMUDGE=0

# Use bash shell for RUN commands (to allow 'source' command)
SHELL ["/bin/bash", "-lc"]

# Install base build dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl gnupg2 lsb-release ca-certificates software-properties-common \
    build-essential cmake ninja-build \
    git git-lfs \
    python3-pip \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Add ROS 2 repository (without legacy apt-key)
RUN install -m 0755 -d /etc/apt/keyrings && \
    curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
    -o /etc/apt/keyrings/ros-archive-keyring.gpg && \
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-archive-keyring.gpg] \
    http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
    | tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Install ROS 2 Humble and development tools (colcon, vcstool, rosdep, etc.)
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-desktop ros-dev-tools \
    ros-humble-ament-cmake-auto \
    && rm -rf /var/lib/apt/lists/*

# Setup workspace directory
ENV WS=/home/spot_ws/zed_ws
ENV ISAAC_ROS_WS=/home/spot_ws/zed_ws
RUN mkdir -p $WS/src
WORKDIR $WS

# Install additional dependencies for NVBLOX (Google Benchmark)
RUN apt-get update && apt-get install -y --no-install-recommends \
    libbenchmark-dev \
    && rm -rf /var/lib/apt/lists/*

# Install gflags and glog libraries
RUN apt-get update && apt-get install -y --no-install-recommends \
    libgflags-dev \
    libgoogle-glog-dev \
    && rm -rf /var/lib/apt/lists/*

# Install CV-CUDA (NVCV): runtime + dev packages (provides <nvcv/Tensor.hpp>)
ARG CVCUDA_VER=v0.15.0
ARG CVCUDA_LIB_DEB=https://github.com/CVCUDA/CV-CUDA/releases/download/${CVCUDA_VER}/cvcuda-lib-0.15.0-cuda12-x86_64-linux.deb
ARG CVCUDA_DEV_DEB=https://github.com/CVCUDA/CV-CUDA/releases/download/${CVCUDA_VER}/cvcuda-dev-0.15.0-cuda12-x86_64-linux.deb

RUN set -e; \
    cd /tmp && \
    wget -O cvcuda-lib.deb "${CVCUDA_LIB_DEB}" && \
    wget -O cvcuda-dev.deb "${CVCUDA_DEV_DEB}" && \
    apt-get update && apt-get install -y ./cvcuda-lib.deb ./cvcuda-dev.deb && \
    rm -rf /var/lib/apt/lists/* && \
    test -f /opt/nvidia/cvcuda0/include/nvcv/Tensor.hpp

# Set CV-CUDA environment variables
ENV CVCUDA_ROOT=/opt/nvidia/cvcuda0
ENV CMAKE_PREFIX_PATH=$CVCUDA_ROOT:$CMAKE_PREFIX_PATH
ENV CPLUS_INCLUDE_PATH=$CVCUDA_ROOT/include:$CPLUS_INCLUDE_PATH

# Install VPI (Vision Programming Interface) packages
RUN set -e; \
    cd /tmp && \
    wget https://repo.download.nvidia.com/jetson/x86_64/focal/pool/main/libn/libnvvpi2/libnvvpi2_2.3.9_amd64.deb && \
    wget https://repo.download.nvidia.com/jetson/x86_64/focal/pool/main/v/vpi2-dev/vpi2-dev_2.3.9_amd64.deb && \
    wget https://repo.download.nvidia.com/jetson/x86_64/focal/pool/main/v/vpi2-samples/vpi2-samples_2.3.9_amd64.deb && \
    apt-get install -y ./libnvvpi2_2.3.9_amd64.deb ./vpi2-dev_2.3.9_amd64.deb ./vpi2-samples_2.3.9_amd64.deb || \
    apt-get -f install -y && \
    rm -f *.deb

# Set working directory
WORKDIR $WS