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Isaac ROS v0.9.0 (EA1)
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‎.gitattributes

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# Images
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*.gif filter=lfs diff=lfs merge=lfs -text
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.png filter=lfs diff=lfs merge=lfs -text
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*.psd filter=lfs diff=lfs merge=lfs -text
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# Archives
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*.gz filter=lfs diff=lfs merge=lfs -text
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*.tar filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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# Documents
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*.pdf filter=lfs diff=lfs merge=lfs -text
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# Numpy data
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*.npy filter=lfs diff=lfs merge=lfs -text
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# Debian package
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*.deb filter=lfs diff=lfs merge=lfs -text

‎.gitignore

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# Ignore all pycache files
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**/__pycache__/**

‎LICENSE

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‎README.md

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# Isaac ROS Common
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Isaac ROS common utilities for use in conjunction with the Isaac ROS suite of packages.
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Note: Please refer to `scripts/README.md` for script used to setup dev environment

‎docker/Dockerfile.aarch64.base

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# Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
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#
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# NVIDIA CORPORATION and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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# Dockder file to aarch64 based Jetson device
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ARG BASE_IMAGE=dustynv/ros:foxy-ros-base-l4t-r32.6.1
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FROM ${BASE_IMAGE}
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# Disable terminal interaction for apt
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ENV DEBIAN_FRONTEND=noninteractive
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# Fundamentals
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RUN apt-get update && apt-get install -y \
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build-essential \
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cmake \
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curl \
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git \
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sudo \
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unzip \
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vim \
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wget \
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software-properties-common \
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&& rm -rf /var/lib/apt/lists/*
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# Install OpenCV dependencies
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RUN apt-get update && apt-get install -y \
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libavformat-dev \
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libjpeg-dev \
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libopenjp2-7-dev \
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libpng-dev \
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libpq-dev \
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libswscale-dev \
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libtbb2 \
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libtbb-dev \
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libtiff-dev \
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pkg-config \
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yasm \
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&& rm -rf /var/lib/apt/lists/*
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# Install additional packages needed for ROS2 dependencies
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RUN apt-get update && apt-get install -y \
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python3-distutils \
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libboost-all-dev \
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libboost-dev \
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&& rm -rf /var/lib/apt/lists/*
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# sklearn dependencies
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RUN apt-get update && apt-get install -y \
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gfortran \
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libatlas-base-dev \
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python3-scipy \
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&& rm -rf /var/lib/apt/lists/*
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# sklearn Python dependencies
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RUN python3 -m pip install -U \
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Cython \
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wheel
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# Install sklearn
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RUN python3 -m pip install -U \
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scikit-learn
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# Install Git-LFS
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RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
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apt-get update && apt-get install -y \
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git-lfs \
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&& rm -rf /var/lib/apt/lists/*
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# Install Realsense
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RUN apt update \
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&& apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
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&& add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u \
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&& apt-get install -y librealsense2-utils librealsense2-dev
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# Update environment
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ENV LD_LIBRARY_PATH="/opt/nvidia/vpi1/lib64:${LD_LIBRARY_PATH}"
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ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra:${LD_LIBRARY_PATH}"
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ENV LD_LIBRARY_PATH="/usr/local/cuda-10.2/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}"
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ENV LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu/tegra-egl:${LD_LIBRARY_PATH}"
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RUN echo "source /opt/ros/foxy/install/setup.bash" > /opt/ros/foxy/setup.bash
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# Restore using the default Foxy DDS middleware: FastRTPS
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ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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### -----------------------------
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# Setup non-root admin user
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ARG USERNAME=admin
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ARG USER_UID=1000
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ARG USER_GID=1001
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# Create the 'admin' user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& adduser admin video && adduser admin sudo
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COPY scripts/workspace-entrypoint.sh /home/$USERNAME/workspace-entrypoint.sh
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RUN chmod +x /home/$USERNAME/workspace-entrypoint.sh
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‎docker/Dockerfile.x86_64.base

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# Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
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#
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# NVIDIA CORPORATION and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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#
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# Docker file to build on x86_64
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ARG BASE_IMAGE=nvidia/cuda:11.2.0-devel-ubuntu20.04
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FROM ${BASE_IMAGE}
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# disable terminal interaction for apt
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ENV DEBIAN_FRONTEND=noninteractive
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# Fundamentals
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RUN apt-get update && apt-get install -y \
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bash-completion \
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build-essential \
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clang-format \
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cmake \
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curl \
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git \
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gnupg2 \
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locales \
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lsb-release \
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rsync \
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software-properties-common \
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wget \
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vim \
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mlocate \
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&& rm -rf /var/lib/apt/lists/*
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# Python basics
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RUN apt-get update && apt-get install -y \
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python3-flake8 \
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python3-opencv \
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python3-pip \
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python3-pytest-cov \
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python3-setuptools \
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&& rm -rf /var/lib/apt/lists/*
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# Video utilities
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RUN apt-get update && apt-get install -y \
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v4l-utils \
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mesa-utils \
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libcanberra-gtk-module \
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libcanberra-gtk3-module \
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&& rm -rf /var/lib/apt/lists/*
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# Core dev libraries
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RUN apt-get update && apt-get install -y \
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libasio-dev \
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libbullet-dev \
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libtinyxml2-dev \
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libcunit1-dev \
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&& rm -rf /var/lib/apt/lists/*
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# Python3 (PIP)
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RUN python3 -m pip install -U \
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argcomplete \
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autopep8 \
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flake8 \
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flake8-blind-except \
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flake8-builtins \
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flake8-class-newline \
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flake8-comprehensions \
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flake8-deprecated \
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flake8-docstrings \
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flake8-import-order \
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flake8-quotes \
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pytest-repeat \
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pytest-rerunfailures \
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pytest \
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pydocstyle \
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scikit-learn
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# Install Git-LFS
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RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash && \
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apt-get update && apt-get install -y \
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git-lfs \
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&& rm -rf /var/lib/apt/lists/*
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# Install VPI packages
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ARG HAS_GPU
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COPY vpi/*.deb /opt/install/
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RUN if [ "$HAS_GPU" = "true" ]; then \
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dpkg -i /opt/install/vpi-lib-1.1.11-cuda11-x86_64-linux.deb; \
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dpkg -i /opt/install/vpi-dev-1.1.11-cuda11-x86_64-linux.deb; \
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updatedb; \
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fi
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# Setup ROS2 Foxy
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RUN locale-gen en_US en_US.UTF-8
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RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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ENV LANG=en_US.UTF-8
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RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
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RUN sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
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RUN apt-get update && apt-get install -y \
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python3-colcon-common-extensions \
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python3-rosdep \
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python3-vcstool \
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ros-foxy-camera-calibration-parsers \
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ros-foxy-camera-info-manager \
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ros-foxy-desktop \
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ros-foxy-launch-testing-ament-cmake \
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ros-foxy-rqt* \
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ros-foxy-turtlesim \
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ros-foxy-v4l2-camera \
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ros-foxy-realsense2-camera \
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&& rm -rf /var/lib/apt/lists/*
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RUN rosdep init
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# Install Realsense
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RUN apt update \
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&& apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
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|| apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE \
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&& add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u \
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&& apt-get install -y librealsense2-utils librealsense2-dev
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# Restore using the default Foxy DDS middleware: FastRTPS
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ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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# Setup non-root admin user
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ARG USERNAME=admin
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ARG USER_UID=1000
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ARG USER_GID=1001
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# Create the 'admin' user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& adduser admin video && adduser admin sudo
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COPY scripts/workspace-entrypoint.sh /home/$USERNAME/workspace-entrypoint.sh
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RUN chmod +x /home/$USERNAME/workspace-entrypoint.sh
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‎docker/scripts/workspace-entrypoint.sh

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#!/bin/bash
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#
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# Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
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#
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# NVIDIA CORPORATION and its licensors retain all intellectual property
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# and proprietary rights in and to this software, related documentation
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# and any modifications thereto. Any use, reproduction, disclosure or
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# distribution of this software and related documentation without an express
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# license agreement from NVIDIA CORPORATION is strictly prohibited.
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# Build ROS dependency
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echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
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source /opt/ros/foxy/setup.bash
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sudo apt-get update
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rosdep update
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$@

‎docker/vpi/vpi-dev-1.1.11-cuda11-x86_64-linux.deb

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version https://git-lfs.github.com/spec/v1
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oid sha256:cc330dc311803789b573283beb212fe44b307d57ff63565bc570ffbf75a48a0d
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size 55790

‎docker/vpi/vpi-lib-1.1.11-cuda11-x86_64-linux.deb

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version https://git-lfs.github.com/spec/v1
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oid sha256:a2ff7114caa50d4a2fd31fb675f1d1c23e1e06d2dda4e1fd9921d126d5a89f66
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size 16271658

‎giistr-cla.md

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## Individual Contributor License Agreement (CLA)
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**Thank you for submitting your contributions to this project.**
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By signing this CLA, you agree that the following terms apply to all of your past, present and future contributions
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to the project.
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### License.
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You hereby represent that all present, past and future contributions are governed by the
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[MIT License](https://opensource.org/licenses/MIT)
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copyright statement.
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This entails that to the extent possible under law, you transfer all copyright and related or neighboring rights
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of the code or documents you contribute to the project itself or its maintainers.
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Furthermore you also represent that you have the authority to perform the above waiver
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with respect to the entirety of you contributions.
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### Moral Rights.
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To the fullest extent permitted under applicable law, you hereby waive, and agree not to
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assert, all of your “moral rights” in or relating to your contributions for the benefit of the project.
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### Third Party Content.
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If your Contribution includes or is based on any source code, object code, bug fixes, configuration changes, tools,
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specifications, documentation, data, materials, feedback, information or other works of authorship that were not
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authored by you (“Third Party Content”) or if you are aware of any third party intellectual property or proprietary
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rights associated with your Contribution (“Third Party Rights”),
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then you agree to include with the submission of your Contribution full details respecting such Third Party
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Content and Third Party Rights, including, without limitation, identification of which aspects of your
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Contribution contain Third Party Content or are associated with Third Party Rights, the owner/author of the
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Third Party Content and Third Party Rights, where you obtained the Third Party Content, and any applicable
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third party license terms or restrictions respecting the Third Party Content and Third Party Rights. For greater
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certainty, the foregoing obligations respecting the identification of Third Party Content and Third Party Rights
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do not apply to any portion of a Project that is incorporated into your Contribution to that same Project.
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### Representations.
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You represent that, other than the Third Party Content and Third Party Rights identified by
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you in accordance with this Agreement, you are the sole author of your Contributions and are legally entitled
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to grant the foregoing licenses and waivers in respect of your Contributions. If your Contributions were
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created in the course of your employment with your past or present employer(s), you represent that such
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employer(s) has authorized you to make your Contributions on behalf of such employer(s) or such employer
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(s) has waived all of their right, title or interest in or to your Contributions.
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### Disclaimer.
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To the fullest extent permitted under applicable law, your Contributions are provided on an "as is"
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basis, without any warranties or conditions, express or implied, including, without limitation, any implied
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warranties or conditions of non-infringement, merchantability or fitness for a particular purpose. You are not
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required to provide support for your Contributions, except to the extent you desire to provide support.
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### No Obligation.
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You acknowledge that the maintainers of this project are under no obligation to use or incorporate your contributions
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into the project. The decision to use or incorporate your contributions into the project will be made at the
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sole discretion of the maintainers or their authorized delegates.

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