Merge pull request #42 from NVIDIA-ISAAC-ROS/release-dp-1.1

Isaac ROS 0.11.0 (DP1.1)

README.md

@@ -60,7 +60,7 @@ COPY myfile.txt /myfile.txt
 
 You could extend the base image launched as a container by `run_dev.sh` as follows. 
 
-`workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_common/scripts/.isaac_ros_common_config`
+`workspaces/isaac_ros-dev/ros_ws/src/isaac_ros_common/scripts/.isaac_ros_common-config`
 ```
 CONFIG_IMAGE_KEY="humble.nav2.mine"
 CONFIG_DOCKER_SEARCH_DIRS=(workspaces/isaac_ros-dev/ros_ws/docker)
@@ -79,22 +79,25 @@ This configures the image key to match with `mine` included and where to look fi
 - [Updates](#updates)
 
 ## Latest Update
-Update 2022-06-30: Support ROS2 Humble and miscellaneous bug fixes.
+Update 2022-08-31: Update to be compatible with JetPack 5.0.2
 
 ## Supported Platforms
 This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) or an x86_64 system with an NVIDIA GPU.
 
+> **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release.
+
 
 | Platform | Hardware                                                                                                                                                                                                | Software                                                                                                             | Notes                                                                                                                                                                                   |
 | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.1 DP](https://developer.nvidia.com/embedded/jetpack)                                                    | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
+| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack)                                                       | For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
 | x86_64   | NVIDIA GPU                                                                                                                                                                                              | [Ubuntu 20.04+](https://releases.ubuntu.com/20.04/) <br> [CUDA 11.6.1+](https://developer.nvidia.com/cuda-downloads) |
 
 
 # Updates
 
 | Date       | Changes                                                                                                                                                       |
 | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 2022-08-31 | Update to be compatible with JetPack 5.0.2                                                                                                                    |
 | 2022-06-30 | Support ROS2 Humble and miscellaneous bug fixes.                                                                                                              |
 | 2022-06-16 | Update `run_dev.sh` and removed `isaac_ros_nvengine`                                                                                                          |
 | 2021-10-20 | Migrated to [NVIDIA-ISAAC-ROS](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common), added `isaac_ros_nvengine` and `isaac_ros_nvengine_interfaces` packages |

docker/Dockerfile.aarch64

@@ -7,7 +7,7 @@
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
 # Docker file for aarch64 based Jetson device
-ARG BASE_IMAGE="nvcr.io/nvidia/l4t-base:r34.1"
+ARG BASE_IMAGE="nvcr.io/nvidia/l4t-base:r35.1.0"
 FROM ${BASE_IMAGE}
 
 # Disable terminal interaction for apt
@@ -18,7 +18,6 @@ SHELL ["/bin/bash", "-c"]
 # Fundamentals
 RUN apt-get update && apt-get install -y \
     build-essential \
-    cmake \
     curl \
     git \
     lsb-release \
@@ -32,12 +31,24 @@ RUN apt-get update && apt-get install -y \
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean
 
+# Upgrade cmake to 3.23.2
+RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
+    && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null \
+    && apt-get update \
+    && rm /usr/share/keyrings/kitware-archive-keyring.gpg \
+    && apt-get install -y kitware-archive-keyring \
+    && apt-get remove cmake && apt-get purge cmake && apt-get remove cmake-data && apt-get purge cmake \
+    && apt-get install -y cmake=3.23.2-0kitware1ubuntu20.04.1 cmake-data=3.23.2-0kitware1ubuntu20.04.1 \
+    && cmake --version \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
+
 # Set Python3 as default
 RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
 
 # Python basics
 RUN apt-get update && apt-get install -y \
-        python3-flake8 \        
+        python3-flake8 \
         python3-pip \
         python3-pytest-cov \
         python3-setuptools \
@@ -105,17 +116,6 @@ RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.d
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean
 
-# Upgrade cmake to latest
-RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
-    && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ bionic main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null \
-    && apt-get update \
-    && rm /usr/share/keyrings/kitware-archive-keyring.gpg \
-    && apt-get install -y kitware-archive-keyring \
-    && apt-get install -y cmake \
-    && cmake --version \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean 
-
 # Install TensorRT and VPI
 RUN apt-get update && apt-get install -y \
     tensorrt \
@@ -144,16 +144,12 @@ ENV PATH="${PATH}:/usr/local/cuda/bin"
 # https://forums.developer.nvidia.com/t/error-importerror-usr-lib-aarch64-linux-gnu-libgomp-so-1-cannot-allocate-memory-in-static-tls-block-i-looked-through-available-threads-already/166494/3
 ENV LD_PRELOAD="/usr/lib/aarch64-linux-gnu/libgomp.so.1"
 
-# Restore using the default Foxy DDS middleware: FastRTPS
-ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-
-# Pytorch
-RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu113 \
-    torch \
-    torchvision \
-    torchaudio
+# PyTorch (NV CUDA edition)
+# https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform/index.html
+RUN python3 -m pip install --no-cache \
+        https://developer.download.nvidia.cn/compute/redist/jp/v50/pytorch/torch-1.13.0a0+340c4120.nv22.06-cp38-cp38-linux_aarch64.whl
 
-# Install Triton server 2.13 from https://github.com/triton-inference-server/server/releases/tag/v2.13.0
+# Install Triton server 2.24 from https://github.com/triton-inference-server/server/releases/tag/v2.24.0
 RUN apt-get update && apt-get install -y --no-install-recommends \
     autoconf \
     automake \
@@ -166,23 +162,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     patchelf \
     rapidjson-dev \
     zlib1g-dev \
-&& rm -rf /var/lib/apt/lists/*
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
 
 RUN mkdir -p /opt/tritonserver && cd /opt/tritonserver \
-    && wget https://github.com/triton-inference-server/server/releases/download/v2.20.0/tritonserver2.20.0-jetpack5.0.tgz \
-    && tar -xzvf tritonserver2.20.0-jetpack5.0.tgz \
-    && rm tritonserver2.20.0-jetpack5.0.tgz
+    && wget https://github.com/triton-inference-server/server/releases/download/v2.24.0/tritonserver2.24.0-jetpack5.0.2.tgz \
+    && tar -xzvf tritonserver2.24.0-jetpack5.0.2.tgz \
+    && rm tritonserver2.24.0-jetpack5.0.2.tgz
 
 ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/tritonserver/lib"
 
 # Add MQTT binaries and libraries
 RUN apt-add-repository ppa:mosquitto-dev/mosquitto-ppa \
-    && apt-get update \
-    && apt-get install -y mosquitto mosquitto-clients
+    && apt-get update && apt-get install -y \
+        mosquitto \
+        mosquitto-clients \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
 
 # Note: VPN cannot be on for pymongo download
 RUN python3 -m pip install -U \
-  pymongo paho-mqtt
+  pymongo \
+  paho-mqtt
 
 # Core dev libraries
 RUN apt-get update && apt-get install -y \

docker/Dockerfile.aarch64.humble.nav2

@@ -6,4 +6,4 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-FROM nvcr.io/nvidia/isaac/ros:aarch64-humble-nav2_661a3fb05aba6897468c8ded9fa42c11
+FROM nvcr.io/nvidia/isaac/ros:aarch64-humble-nav2_35120f31b84976ec36009722e16f1524

docker/Dockerfile.humble

@@ -30,10 +30,8 @@ RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/r
 # ROS fundamentals
 RUN apt-get update && apt-get install -y \
         build-essential \
-        cmake \
         git \
         python3-colcon-common-extensions \
-        python3-flake8 \
         python3-pip \
         python3-pybind11 \
         python3-pytest-cov \
@@ -60,10 +58,15 @@ RUN python3 -m pip install -U \
         pytest \
         setuptools
 
+# Avoid setup.py and easy_install deprecation warnings caused by colcon and setuptools
+# https://github.com/colcon/colcon-core/issues/454
+ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
+RUN echo "Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon"
+
 ENV ROS_DISTRO=humble
 ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}
 
-# Build ROS2 core from source source
+# Build ROS2 core from source
 RUN mkdir -p ${ROS_ROOT}/src && \
     cd ${ROS_ROOT} && \
     # https://answers.ros.org/question/325245/minimal-ros2-installation/?answer=325249#post-id-325249
@@ -115,8 +118,8 @@ RUN cd ${ROS_ROOT} \
       --from-paths src \
       --rosdistro ${ROS_DISTRO} \
       --skip-keys "fastcdr rti-connext-dds-6.0.1 rti-connext-dds-5.3.1 urdfdom_headers libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" \
-&& rm -Rf /var/lib/apt/lists/* \
-&& apt-get clean
+    && rm -Rf /var/lib/apt/lists/* \
+    && apt-get clean
 
 # Build ROS2 source
 RUN cd ${ROS_ROOT} \
@@ -137,5 +140,5 @@ RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} \
     && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to-regex negotiated* \
     && rm -Rf src logs build \
-&& rm -rf /var/lib/apt/lists/* \
-&& apt-get clean
+    && rm -rf /var/lib/apt/lists/* \
+    && apt-get clean

docker/Dockerfile.nav2

@@ -12,7 +12,7 @@ FROM ${BASE_IMAGE}
 # Install nav2
 RUN apt-get update && mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
     && git clone https://github.com/ros-planning/navigation2.git && cd navigation2 && git checkout humble && cd .. \    
-    && git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git && cd BehaviorTree.CPP && git checkout master && cd .. \
+    && git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git && cd BehaviorTree.CPP && git checkout a363bdcae88350bc748598a7d2950e300859469c && cd .. \
     && source ${ROS_ROOT}/setup.bash && cd ${ROS_ROOT} \
     && rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} \
     && colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to-regex nav2* --packages-ignore nav2_system_tests \

docker/Dockerfile.user

@@ -23,7 +23,7 @@ RUN apt-get update && apt-get install -y \
 # Reuse triton-server user as 'admin' user if exists
 RUN if [ $(getent group triton-server) ]; then \
         groupmod --gid ${USER_GID} -n ${USERNAME} triton-server ; \
-        usermod -l ${USERNAME} -m -d /home/${USERNAME} triton-server ; \
+        usermod -l ${USERNAME} -u ${USER_UID} -m -d /home/${USERNAME} triton-server ; \
         mkdir -p /home/${USERNAME} ; \
         sudo chown ${USERNAME}:${USERNAME} /home/${USERNAME} ; \
     fi
@@ -44,6 +44,10 @@ RUN mkdir -p /usr/local/bin/scripts
 COPY scripts/*entrypoint.sh /usr/local/bin/scripts/
 RUN  chmod +x /usr/local/bin/scripts/*.sh
 
+# Copy middleware profiles
+RUN mkdir -p /usr/local/share/middleware_profiles
+COPY middleware_profiles/*profile.xml /usr/local/share/middleware_profiles/
+
 ENV USERNAME=${USERNAME}
 ENV USER_GID=${USER_GID}
 ENV USER_UID=${USER_UID}

docker/Dockerfile.x86_64

@@ -51,7 +51,6 @@ RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
 
 # Python basics
 RUN apt-get update && apt-get install -y \
-        python3-flake8 \        
         python3-pip \
         python3-pybind11 \
         python3-pytest-cov \
@@ -78,18 +77,12 @@ RUN apt-get update && apt-get install -y \
         python3-opencv \
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean
-
-# Pytorch
-RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu113 \
-        torch \
-        torchvision \
-        torchaudio
 
 # Python3 (PIP)
 RUN python3 -m pip install -U \
         argcomplete \
         autopep8 \
-        flake8 \
+        flake8==4.0.1 \
         flake8-blind-except \
         flake8-builtins \
         flake8-class-newline \
@@ -112,12 +105,13 @@ RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.d
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean
 
-# CMake
-RUN wget -qO - https://apt.kitware.com/keys/kitware-archive-latest.asc | apt-key add - && \
-    apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" && \
-    apt-get update && \
-    apt-get install -y --no-install-recommends --only-upgrade \
-            cmake \
+# Upgrade cmake to 3.23.2
+RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
+    && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null \
+    && apt-get update \
+    && apt-get update \
+    && apt-get remove -y cmake && apt-get purge -y cmake && apt-get remove -y cmake-data && apt-get purge -y cmake \
+    && apt-get install -y cmake=3.23.2-0kitware1ubuntu20.04.1 cmake-data=3.23.2-0kitware1ubuntu20.04.1 \
     && cmake --version \
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean 
@@ -133,12 +127,18 @@ RUN apt-get update && apt-get install -y \
 && rm -rf /var/lib/apt/lists/* \
 && apt-get clean
 
+# Pytorch
+RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu113 \
+        torch \
+        torchvision \
+        torchaudio
+
 # Install VPI packages
 ARG HAS_GPU="true"
 RUN if [ "$HAS_GPU" = "true" ]; then \
 	set -e ; \
         apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc ; \
-        add-apt-repository 'deb http://repo.download.nvidia.com/jetson/x86_64/focal r34.1 main' ; \
+        add-apt-repository 'deb http://repo.download.nvidia.com/jetson/x86_64/focal r35.1 main' ; \
         apt-get update ; \
         apt-get install libnvvpi2 vpi2-dev ; \
         rm -rf /var/lib/apt/lists/* ; \

docker/Dockerfile.x86_64.humble.nav2

@@ -6,4 +6,4 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-FROM nvcr.io/nvidia/isaac/ros:x86_64-humble-nav2_6ffb6f904c4c6d286b16de5ca662ad5f
+FROM nvcr.io/nvidia/isaac/ros:x86_64-humble-nav2_53c4c553a22864a0675e9b05bb7cf19b

docker/middleware_profiles/rtps_udp_profile.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<!--
+Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
+
+NVIDIA CORPORATION and its licensors retain all intellectual property
+and proprietary rights in and to this software, related documentation
+and any modifications thereto.  Any use, reproduction, disclosure or
+distribution of this software and related documentation without an express
+license agreement from NVIDIA CORPORATION is strictly prohibited.
+-->
+
+<license>NVIDIA Isaac ROS Software License</license>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>UdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="udp_transport_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>UdpTransport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>

docker/realsense-dockerfile-example/.isaac_ros_common-config

@@ -0,0 +1,2 @@
+CONFIG_IMAGE_KEY=humble.nav2.realsense
+CONFIG_DOCKER_SEARCH_DIRS=($DOCKER_DIR/realsense-dockerfile-example)

docker/realsense-dockerfile-example/Dockerfile.realsense

@@ -3,8 +3,8 @@
 ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
 
-COPY realsense/buildLibrealsense.sh /opt/realsense/buildLibrealsense.sh
-COPY realsense/installDependencies.sh /opt/realsense/installDependencies.sh
+COPY buildLibrealsense.sh /opt/realsense/buildLibrealsense.sh
+COPY installDependencies.sh /opt/realsense/installDependencies.sh
 
 RUN chmod +x /opt/realsense/installDependencies.sh && /opt/realsense/installDependencies.sh
 RUN chmod +x /opt/realsense/buildLibrealsense.sh && /opt/realsense/buildLibrealsense.sh

docker/realsense-dockerfile-example/installDependencies.sh

@@ -13,8 +13,6 @@ apt-add-repository universe
 apt-get update
 echo "${green}Adding dependencies, graphics libraries and tools${reset}"
 apt-get install libssl-dev libusb-1.0-0-dev pkg-config -y
-# This is for ccmake
-apt-get install build-essential cmake cmake-curses-gui -y
 
 # Graphics libraries - for SDK's OpenGL-enabled examples
 apt-get install libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev -y