Dockerized object_detection package (#32)

* initialized docker file * git clone in dockerfile * git checkout to topguns/dockerfile added in dockerfile * replaced COPY with cp command * replaced ssh with https link of the repo * seperate RUN for each bash command * added / after mkdir commands * removed trailing && after RUN commands * correction in directory structure * cloning directly into topguns/dockerfile branch * removed copying docker scripts to container command * trying to install Python requirements using requirements.txt * changed matplotlib version to 3.7.2 in requirements.txt * conflicts in requirements.txt * changed numpy version in requirements.txt * enter_bash.sh working * testing base.sh and start.sh * added cv-bridge dependency * working on exposing ros2 topics inside the container to host machine * tested docker container, clip and ship * changed model dir path for docker container * cleaned Dockerfile * added requirement.txt, docker instructions * Initialized new Dockerfile with nvidia/cuda as base image * Changes in Readme * Minor changes to detector scripts * Docker container working * Added code to install nano in Dockerfile * Added arg in dockerfile to specify CUDA Version and added docker stop in run_devel.sh * Added feature to enter bash if container is running and remove the container after exit in run_devel. Changed tensorflow version to 2.14.0 * Added feature in run_devel to build docker image if it doesnt exist * Updated readme * Updated readme * correction in run_devel.sh * Attempting to build OpenCV from source * Added option to select base image in run_devel.sh * Env Variable for percep_ws * Updated readme * README.md changes * additions to README.md (#50) * fixed superimposed predictions on consecutive frames * Resolved the error : can't convert cuda:0 device type tensor to numpy. Use Tensor.cpu() to copy the tensor to host memory * Added output class labels and confidences to output image, fixed issue with wrong sizes of bounding boxes * Removed code for building opencv from source from the dockerfiles * Code cleanup and fixed minor bugs * Code cleanup and fixed minor bugs * Changed model weight location --------- Co-authored-by: AaksharGarg <[email protected]> Co-authored-by: deepansh <[email protected]> Co-authored-by: Deepansh Goel <[email protected]> Co-authored-by: topguns837 <[email protected]> Co-authored-by: Jasmeet Singh <[email protected]>
atom-robotics-lab · Feb 4, 2024 · efb16f7 · efb16f7
1 parent afde1f2
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diff --git a/.gitignore b/.gitignore
@@ -1,9 +1,82 @@
-#Ignore the test node
-/object_detection/object_detection/test_node.py
+# Custom settings asset
+*.settings.asset*
 
-#Ignore pycache dirs
-object_detection/object_detection/Detectors/__pycache__/
-object_detection/object_detection/__pycache__/
+# Visual Studio 2015 cache directory
+/Project/.vs/
 
-#Ignore .vscode dir
-.vscode
+/[Ll]ibrary/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/
+/[Bb]uilds/
+/[Ll]ogs/
+/[Mm]emoryCaptures/
+
+# Autogenerated VS/MD/Consulo solution and project files
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+
+# Unity3D generated meta files
+*.pidb.meta
+
+# Builds
+*.apk
+*.unitypackage
+*.app
+*.exe
+*.x86_64
+*.x86
+
+# Generated doc folders
+/docs/html
+
+# Mac hidden files
+*.DS_Store
+*/.ipynb_checkpoints
+*/.idea
+*.pyc
+*.idea/misc.xml
+*.idea/modules.xml
+*.idea/
+*.iml
+*.cache
+*/build/
+*/dist/
+*.egg-info*
+*.eggs*
+*.gitignore.swp
+
+# VSCode hidden files
+.vscode/
+
+.DS_Store
+.ipynb_checkpoints
+
+# pytest cache
+*.pytest_cache/
+
+# Ignore PyPi build files.
+dist/
+build/
+
+# Python virtual environment
+venv/
+.mypy_cache/
+
+# Code coverage report
+.coverage
+coverage.xml
+/htmlcov/
+
+**/UserSettings/*
+
+ROSConnectionPrefab.prefab
diff --git a/Dockerfile.cuda b/Dockerfile.cuda
@@ -0,0 +1,80 @@
+# Use cuda_version arg to take CUDA version as input from user
+ARG cuda_version=11.8.0
+
+# Use NVIDA-CUDA's base image
+FROM nvcr.io/nvidia/cuda:${cuda_version}-devel-ubuntu22.04 
+
+# Prevent console from interacting with the user
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Prevent hash mismatch error for apt-get update, qqq makes the terminal quiet while downloading pkgs
+RUN apt-get clean && rm -rf /var/lib/apt/lists/* && apt-get update -yqqq
+
+# Set folder for RUNTIME_DIR. Only to prevent warnings when running RViz2 and Gz
+RUN mkdir tmp/runtime-root && chmod 0700 tmp/runtime-root
+ENV XDG_RUNTIME_DIR='/tmp/runtime-root'
+
+RUN apt-get update
+
+RUN apt-get install --no-install-recommends -yqqq \
+    apt-utils \
+    nano \
+    git 
+
+# Using shell to use bash commands like 'source'
+SHELL ["/bin/bash", "-c"]
+
+# Python Dependencies
+RUN apt-get install --no-install-recommends -yqqq \
+    python3-pip
+
+# Add locale
+RUN locale  && \
+    apt update && apt install --no-install-recommends -yqqq locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8 && \
+    locale  
+
+# Setup the sources
+RUN apt-get update && apt-get install --no-install-recommends -yqqq software-properties-common curl && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/nul
+
+# Install ROS 2 Humble
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-ros-base \
+    ros-dev-tools
+
+# Install cv-bridge
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cv-bridge
+
+# Target workspace for ROS2 packages
+ARG WORKSPACE=/root/percep_ws
+
+# Add target workspace in environment
+ENV WORKSPACE=$WORKSPACE
+
+# Creating the models folder
+RUN mkdir -p $WORKSPACE/models && \
+    mkdir -p $WORKSPACE/src
+
+# Installing Python dependencies
+COPY object_detection/requirements.txt .
+RUN  pip3 install -r requirements.txt
+
+# ROS Dependencies
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cyclonedds \
+    ros-humble-rmw-cyclonedds-cpp
+
+# Use cyclone DDS by default
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+
+WORKDIR /root/percep_ws
+
+# Update .bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
+
diff --git a/Dockerfile.ubuntu b/Dockerfile.ubuntu
@@ -0,0 +1,77 @@
+# Use Ubuntu's base image
+FROM ubuntu:22.04
+
+# Prevent console from interacting with the user
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Prevent hash mismatch error for apt-get update, qqq makes the terminal quiet while downloading pkgs
+RUN apt-get clean && rm -rf /var/lib/apt/lists/* && apt-get update -yqqq
+
+# Set folder for RUNTIME_DIR. Only to prevent warnings when running RViz2 and Gz
+RUN mkdir tmp/runtime-root && chmod 0700 tmp/runtime-root
+ENV XDG_RUNTIME_DIR='/tmp/runtime-root'
+
+RUN apt-get update
+
+RUN apt-get install --no-install-recommends -yqqq \
+    apt-utils \
+    nano \
+    git 
+
+# Using shell to use bash commands like 'source'
+SHELL ["/bin/bash", "-c"]
+
+# Python Dependencies
+RUN apt-get install --no-install-recommends -yqqq \
+    python3-pip
+
+# Add locale
+RUN locale  && \
+    apt update && apt install --no-install-recommends -yqqq locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8 && \
+    locale  
+
+# Setup the sources
+RUN apt-get update && apt-get install --no-install-recommends -yqqq software-properties-common curl && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/nul
+
+# Install ROS 2 Humble
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-ros-base \
+    ros-dev-tools
+
+# Install cv-bridge
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cv-bridge
+
+# Target workspace for ROS2 packages
+ARG WORKSPACE=/root/percep_ws
+
+# Add target workspace in environment
+ENV WORKSPACE=$WORKSPACE
+
+# Creating the models folder
+RUN mkdir -p $WORKSPACE/models && \
+    mkdir -p $WORKSPACE/src
+
+# Installing Python dependencies
+COPY object_detection/requirements.txt .
+RUN  pip3 install -r requirements.txt
+
+# ROS Dependencies
+RUN apt update && apt install --no-install-recommends -yqqq \
+    ros-humble-cyclonedds \
+    ros-humble-rmw-cyclonedds-cpp
+
+# Use cyclone DDS by default
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+
+WORKDIR /root/percep_ws
+
+# Update .bashrc
+RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
+