feat: Jetson foxy docker image added

.github/workflows/docker_ci.yml

@@ -20,6 +20,10 @@ jobs:
             context: .
             tag: foxy-desktop
             platform: linux/amd64
+          - dockerfile: ./docker_foxy_jetson/Dockerfile
+            context: .
+            tag: foxy-jetson
+            platform: linux/arm64
 
     permissions:
       contents: read

docker_foxy_jetson/Dockerfile

@@ -0,0 +1,41 @@
+###########################################
+# Xplore Navigation image
+###########################################
+FROM ghcr.io/epflxplore/docker_commons:foxy-jetson
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install ROS 2 Nav packages
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-navigation2 \
+    ros-${ROS_DISTRO}-nav2-bringup \
+    ros-${ROS_DISTRO}-slam-toolbox \
+    ros-${ROS_DISTRO}-smac-planner \
+    ros-${ROS_DISTRO}-test-msgs \
+    ros-${ROS_DISTRO}-joint-state-publisher-gui \
+    ros-${ROS_DISTRO}-libg2o \
+    ros-${ROS_DISTRO}-depthai-ros \
+    python3-zmq \
+    libyaml-cpp-dev \
+    lcov
+
+# Add USB rules
+RUN echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
+RUN /etc/init.d/udev restart
+
+USER $USERNAME
+
+# Set a diretory to store the project
+WORKDIR /home/$USERNAME/dev_ws/src
+COPY . .
+
+# Set a directory to build the project
+WORKDIR /home/$USERNAME/dev_ws
+
+# Install ROS 2 Nav dependencies
+# RUN rosdep update \
+#     && rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y --skip-keys "libg2o g2o"
+
+# Clean up
+RUN sudo rm -rf /var/lib/apt/lists/*

docker_foxy_jetson/build.sh

@@ -0,0 +1 @@
+docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/nav:foxy-jetson -f Dockerfile ..

docker_foxy_jetson/run.sh

@@ -0,0 +1,50 @@
+# If not working, first do: sudo rm -rf /tmp/.docker.xauth
+# If still not working, try running the script as root.
+
+XAUTH=/tmp/.docker.xauth
+
+echo "Preparing Xauthority data..."
+xauth_list=$(xauth nlist :0 | tail -n 1 | sed -e 's/^..../ffff/')
+if [ ! -f $XAUTH ]; then
+    if [ ! -z "$xauth_list" ]; then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+echo "Done."
+echo ""
+echo "Verifying file contents:"
+file $XAUTH
+echo "--> It should say \"X11 Xauthority data\"."
+echo ""
+echo "Permissions:"
+ls -FAlh $XAUTH
+echo ""
+echo "Running docker..."
+
+# Get the current working directory
+current_dir=$(pwd)
+
+# Use dirname to get the parent directory
+parent_dir=$(dirname "$current_dir")
+
+docker run -it \
+    --name nav_foxy_jetson \
+    --rm \
+    --runtime=nvidia \
+    --gpus all \
+    --privileged \
+    --net=host \
+    -e DISPLAY=unix$DISPLAY \
+    -e QT_X11_NO_MITSHM=1 \
+    -e XAUTHORITY=$XAUTH \
+    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+    -v $XAUTH:$XAUTH \
+    -v /run/user/1000/at-spi:/run/user/1000/at-spi \
+    -v /dev:/dev \
+    -v $parent_dir:/home/xplore/dev_ws/src \
+    -v nav_foxy_desktop_home_volume:/home/xplore \
+    ghcr.io/epflxplore/nav:foxy-jetson