Dockerfile.gpu

# Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
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# Jetpack 4.6.1
# Docker file for aarch64 based Jetson device
FROM nanosaur/perception:foxy

################ EDGE IMPULSE ##################################

RUN apt update && \
    apt-get install -y libatlas-base-dev libportaudio2 libportaudiocpp0 portaudio19-dev python3-pip && \
    pip3 install pyaudio scikit-build && \
    rm -rf /var/lib/apt/lists/*

#RUN pip3 install numpy
RUN pip3 install edge_impulse_linux 

################ NANOSAUR EDGE IMPULSE PKGS ####################

# Download and build nanosaur_ei
ENV ROS_WS /opt/ros_ws

# Copy wstool ei.rosinstall
RUN mkdir -p ${ROS_WS}/src && \
    cd ${ROS_WS}
COPY nanosaur_ei/rosinstall/ei.rosinstall ei.rosinstall

RUN vcs import ${ROS_WS}/src < ei.rosinstall 

ADD . $ROS_WS/src/nanosaur_ei

# Change workdir
#WORKDIR $ROS_WS/src/nanosaur_ei

# Build Isaac ROS
RUN . /opt/ros/$ROS_DISTRO/install/setup.sh && \
    . $ISAAC_ROS_WS/install/setup.sh && \
    cd $ROS_WS && \
    colcon build --symlink-install --merge-install \
    --cmake-args \
    -DCMAKE_BUILD_TYPE=Release

# https://docs.docker.com/engine/reference/builder/#stopsignal
# https://hynek.me/articles/docker-signals/
STOPSIGNAL SIGINT
# source ros package from entrypoint
RUN sed --in-place --expression \
      '$isource "$ROS_WS/install/setup.bash"' \
      /ros_entrypoint.sh