Skip to content

Release 3.2 #186

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
leddits wants to merge 3 commits into
base: release-3.2
Choose a base branch
from
Open

Release 3.2 #186

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
4b3b875
code debug
leddits Apr 18, 2025
fcf8e72
check
leddits Apr 18, 2025
f75a557
rtabmap_ros intetration
leddits Apr 22, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 30 additions & 0 deletions docker/Dockerfile.base
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ RUN --mount=type=cache,target=/var/cache/apt \
python3-opencv=4.5.4+dfsg-9ubuntu4 \
python3-scipy


# Downgrade to setuptools < 70.0.0
# https://github.com/pypa/setuptools/issues/4483
RUN python3 -m pip install -U \
Expand All @@ -151,6 +152,8 @@ RUN python3 -m pip install -U \
ninja \
wheel

RUN python3 -m pip install --upgrade pip setuptools wheel packaging

# Python3 PIP packages
RUN python3 -m pip install -U \
argcomplete \
Expand Down Expand Up @@ -425,6 +428,33 @@ RUN apt-get install -y yasm && wget https://ffmpeg.org/releases/ffmpeg-4.4.2.tar

FROM extended-${PLATFORM} AS base





# -------- RTAB-Map 설치 (core + ros2) --------
WORKDIR /tmp

RUN git clone https://github.com/introlab/rtabmap.git && \
cd rtabmap && \
git checkout master && \
rm -rf build && mkdir build && cd build && \
cmake .. \
-DCMAKE_BUILD_TYPE=Release \
-DWITH_CUDA=ON \
-DWITH_OPENMP=ON \
-DWITH_G2O=ON \
-DWITH_PCL=ON && \
make -j$(nproc) && make install && ldconfig && \
cd /tmp && rm -rf rtabmap

# rtabmap_ros (ROS 2 Humble용) – ros2 브랜치 사용
RUN mkdir -p /workspaces/isaac_ros-dev/src && \
git clone --depth=1 --branch ros2 https://github.com/introlab/rtabmap_ros.git /workspaces/isaac_ros-dev/src/rtabmap_ros




# Install Ceres
RUN git clone https://github.com/ceres-solver/ceres-solver.git && \
cd ceres-solver && \
Expand Down
23 changes: 22 additions & 1 deletion scripts/run_dev.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -192,6 +192,26 @@ if [ "$(docker ps -a --quiet --filter status=running --filter name=$CONTAINER_NA
print_info "Attaching to running container: $CONTAINER_NAME"
ISAAC_ROS_WS=$(docker exec $CONTAINER_NAME printenv ISAAC_ROS_WS)
print_info "Docker workspace: $ISAAC_ROS_WS"





# ✅ rtabmap_ros 자동 colcon 빌드
docker exec -u admin $CONTAINER_NAME bash -c "\
source /opt/ros/humble/setup.bash && \
if [ -d /workspaces/isaac_ros-dev/src/rtabmap_ros ] && [ ! -d /workspaces/isaac_ros-dev/install/rtabmap_ros ]; then \
echo '[INFO] rtabmap_ros detected. Building with colcon...'; \
cd /workspaces/isaac_ros-dev && \
colcon build --symlink-install --cmake-args -DWITH_CUDA=ON; \
echo '[INFO] Build finished.'; \
fi"






docker exec -i -t -u admin --workdir $ISAAC_ROS_WS $CONTAINER_NAME /bin/bash $@
exit 0
fi
Expand Down Expand Up @@ -240,7 +260,8 @@ if [[ -n $SSH_AUTH_SOCK ]]; then
fi

if [[ $PLATFORM == "aarch64" ]]; then
DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all,nvidia.com/pva=all")
# DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all,nvidia.com/pva=all")
DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
DOCKER_ARGS+=("-v /usr/bin/tegrastats:/usr/bin/tegrastats")
DOCKER_ARGS+=("-v /tmp/:/tmp/")
DOCKER_ARGS+=("-v /usr/lib/aarch64-linux-gnu/tegra:/usr/lib/aarch64-linux-gnu/tegra")
Expand Down