added --ros option to docker scripts

dusty-nv · Jun 15, 2023 · 18a368f · 18a368f
1 parent d5a9abd
commit 18a368f
Show file tree

Hide file tree

Showing 4 changed files with 98 additions and 56 deletions.
diff --git a/docker/build.sh b/docker/build.sh
@@ -45,18 +45,18 @@ if [ -z $BASE_IMAGE ]; then
 			exit 1
 		fi
 	elif [ $ARCH = "x86_64" ]; then
-		BASE_IMAGE="nvcr.io/nvidia/pytorch:$CONTAINER_VERSION-py3"
+		BASE_IMAGE="nvcr.io/nvidia/pytorch:$CONTAINER_TAG-py3"
 	fi
 fi
 
 echo "BASE_IMAGE=$BASE_IMAGE"
-echo "TAG=$TAG"
+echo "CONTAINER_IMAGE=$CONTAINER_LOCAL_IMAGE"
 
 # distro release-dependent build options 
 source docker/containers/scripts/opencv_version.sh
 
 # build the container
-sudo docker build -t $TAG -f Dockerfile \
+sudo docker build -t $CONTAINER_LOCAL_IMAGE -f Dockerfile \
           --build-arg BASE_IMAGE=$BASE_IMAGE \
 		--build-arg OPENCV_URL=$OPENCV_URL \
 		--build-arg OPENCV_DEB=$OPENCV_DEB \

diff --git a/docker/push.sh b/docker/push.sh
@@ -14,4 +14,4 @@ push()
 	echo "done pushing image $CONTAINER_REMOTE_IMAGE"
 }
 
-push $TAG
+push $CONTAINER_LOCAL_IMAGE
diff --git a/docker/run.sh b/docker/run.sh
@@ -15,28 +15,38 @@ show_help() {
     echo " "
     echo "   ./docker/run.sh --container DOCKER_IMAGE"
     echo "                   --volume HOST_DIR:MOUNT_DIR"
+    echo "                   --ros ROS_DISTRO"
     echo "                   --run RUN_COMMAND"
     echo " "
     echo "args:"
     echo " "
     echo "   --help                       Show this help text and quit"
     echo " "
     echo "   -c, --container DOCKER_IMAGE Specifies the name of the Docker container"
-    echo "                                image to use (default: 'nvidia-l4t-base')"
+    echo "                                image to use (default: 'jetson-inference')"
+    echo " "
+    echo "   --dev  Runs the container in development mode, where the source"
+    echo "          files are mounted into the container dynamically, so they"
+    echo "          can more easily be edited from the host machine."
     echo " "
     echo "   -v, --volume HOST_DIR:MOUNT_DIR Mount a path from the host system into"
     echo "                                   the container.  Should be specified as:"
     echo " "
     echo "                                      -v /my/host/path:/my/container/path"
     echo " "
-    echo "                                   (these should be absolute paths)"
+    echo "                                   These should be absolute paths, and you"
+    echo "                                   can specify multiple --volume options."
+    echo " "
+    echo "  --ros DISTRO Specifies the ROS distro to use, one of:"
+    echo "                 'noetic', 'foxy', 'galactic', 'humble', 'iron'"
+    echo "               This will enable the use of ros_deep_learning package."
+    echo "               When run with just --ros flag, the default distro is foxy."
     echo " "
     echo "   -r, --run RUN_COMMAND  Command to run once the container is started."
     echo "                          Note that this argument must be invoked last,"
     echo "                          as all further arguments will form the command."
     echo "                          If no run command is specified, an interactive"
     echo "                          terminal into the container will be provided."
-    echo " "
 }
 
 die() {
@@ -45,9 +55,6 @@ die() {
     exit 1
 }
 
-# find container tag from L4T version
-source docker/tag.sh
-
 # paths to some project directories
 NETWORKS_DIR="data/networks"
 CLASSIFY_DIR="python/training/classification"
@@ -57,25 +64,27 @@ RECOGNIZER_DIR="python/www/recognizer"
 DOCKER_ROOT="/jetson-inference"	# where the project resides inside docker
 
 # generate mount commands
-DATA_VOLUME="\
+DATA_VOLUME=" \
 --volume $PWD/data:$DOCKER_ROOT/data \
 --volume $PWD/$CLASSIFY_DIR/data:$DOCKER_ROOT/$CLASSIFY_DIR/data \
 --volume $PWD/$CLASSIFY_DIR/models:$DOCKER_ROOT/$CLASSIFY_DIR/models \
 --volume $PWD/$DETECTION_DIR/data:$DOCKER_ROOT/$DETECTION_DIR/data \
 --volume $PWD/$DETECTION_DIR/models:$DOCKER_ROOT/$DETECTION_DIR/models \
---volume $PWD/$RECOGNIZER_DIR/data:$DOCKER_ROOT/$RECOGNIZER_DIR/data"
+--volume $PWD/$RECOGNIZER_DIR/data:$DOCKER_ROOT/$RECOGNIZER_DIR/data "
 
 # parse user arguments
-USER_VOLUME=""
 USER_COMMAND=""
+USER_VOLUME=""
+DEV_VOLUME=""
+ROS_DISTRO=""
 
 while :; do
     case $1 in
         -h|-\?|--help)
-            show_help    # Display a usage synopsis.
+            show_help
             exit
             ;;
-        -c|--container)       # Takes an option argument; ensure it has been specified.
+        -c|--container)  # takes an option argument; ensure it has been specified.
             if [ "$2" ]; then
                 CONTAINER_IMAGE=$2
                 shift
@@ -84,25 +93,42 @@ while :; do
             fi
             ;;
         --container=?*)
-            CONTAINER_IMAGE=${1#*=} # Delete everything up to "=" and assign the remainder.
+            CONTAINER_IMAGE=${1#*=} # delete everything up to "=" and assign the remainder.
             ;;
-        --container=)         # Handle the case of an empty --image=
+        --container=)  # handle the case of an empty flag
             die 'ERROR: "--container" requires a non-empty option argument.'
             ;;
+        --dev)
+            DEV_VOLUME=" --volume $PWD:$DOCKER_ROOT "
+            ;;
         -v|--volume)
             if [ "$2" ]; then
-                USER_VOLUME=" -v $2 "
+                USER_VOLUME="$USER_VOLUME --volume $2 "
                 shift
             else
                 die 'ERROR: "--volume" requires a non-empty option argument.'
             fi
             ;;
         --volume=?*)
-            USER_VOLUME=" -v ${1#*=} " # Delete everything up to "=" and assign the remainder.
+            USER_VOLUME="$USER_VOLUME --volume ${1#*=} "
             ;;
-        --volume=)         # Handle the case of an empty --image=
+        --volume=)
             die 'ERROR: "--volume" requires a non-empty option argument.'
             ;;
+        --ros)
+            if [ "$2" ]; then
+                ROS_DISTRO=$2
+                shift
+            else
+                ROS_DISTRO="foxy"
+            fi
+            ;;
+        --ros=?*)
+            ROS_DISTRO=${1#*=}
+            ;;
+        --ros=)
+            die 'ERROR: "--ros" requires a non-empty option argument.'
+            ;;
         -r|--run)
             if [ "$2" ]; then
                 shift
@@ -111,27 +137,27 @@ while :; do
                 die 'ERROR: "--run" requires a non-empty option argument.'
             fi
             ;;
-        --)              # End of all options.
+        --)
             shift
             break
             ;;
         -?*)
             printf 'WARN: Unknown option (ignored): %s\n' "$1" >&2
             ;;
-        *)               # Default case: No more options, so break out of the loop.
+        *)   # default case: No more options, so break out of the loop.
             break
     esac
 
     shift
 done
 
-echo "CONTAINER:      $CONTAINER_IMAGE"
-echo "DATA_VOLUME:    $DATA_VOLUME"
-echo "USER_VOLUME:    $USER_VOLUME"
-echo "USER_COMMAND:   $USER_COMMAND"
+# select container tag (unless specified by user)
+if [ -z "$CONTAINER_IMAGE" ]; then
+	source docker/tag.sh
+fi
 
 # check for V4L2 devices
-V4L2_DEVICES=" "
+V4L2_DEVICES=""
 
 for i in {0..9}
 do
@@ -140,34 +166,48 @@ do
 	fi
 done
 
-echo "V4L2_DEVICES:  $V4L2_DEVICES"
-
 # check for display
-DISPLAY_DEVICE=" "
+DISPLAY_DEVICE=""
 
 if [ -n "$DISPLAY" ]; then
 	sudo xhost +si:localuser:root
-	DISPLAY_DEVICE="-e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix"
+	DISPLAY_DEVICE=" -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix "
 fi
 
-echo "DISPLAY_DEVICE: $DISPLAY_DEVICE"
+# print configuration
+print_var() 
+{
+	if [ -n "${!1}" ]; then                                                # reference var by name - https://stackoverflow.com/a/47768983
+		local trimmed="$(echo -e "${!1}" | sed -e 's/^[[:space:]]*//')"   # remove leading whitespace - https://stackoverflow.com/a/3232433    
+		printf '%-17s %s\n' "$1:" "$trimmed"                              # justify prefix - https://unix.stackexchange.com/a/354094
+	fi
+}
+
+print_var "CONTAINER_IMAGE"
+print_var "ROS_DISTRO"
+print_var "DATA_VOLUME"
+print_var "DEV_VOLUME"
+print_var "USER_VOLUME"
+print_var "USER_COMMAND"
+print_var "V4L2_DEVICES"
+print_var "DISPLAY_DEVICE"
 
 # run the container
 if [ $ARCH = "aarch64" ]; then
 
 	# /proc or /sys files aren't mountable into docker
 	cat /proc/device-tree/model > /tmp/nv_jetson_model
-	
+
 	sudo docker run --runtime nvidia -it --rm \
 		--network host \
 		-v /tmp/argus_socket:/tmp/argus_socket \
 		-v /etc/enctune.conf:/etc/enctune.conf \
 		-v /etc/nv_tegra_release:/etc/nv_tegra_release \
 		-v /tmp/nv_jetson_model:/tmp/nv_jetson_model \
 		$DISPLAY_DEVICE $V4L2_DEVICES \
-		$DATA_VOLUME $USER_VOLUME \
+		$DATA_VOLUME $USER_VOLUME $DEV_VOLUME \
 		$CONTAINER_IMAGE $USER_COMMAND
-    
+
 elif [ $ARCH = "x86_64" ]; then
 
 	sudo docker run --gpus all -it --rm \
@@ -177,7 +217,7 @@ elif [ $ARCH = "x86_64" ]; then
 		--ulimit stack=67108864 \
 		-e NVIDIA_DRIVER_CAPABILITIES=all \
 		$DISPLAY_DEVICE $V4L2_DEVICES \
-		$DATA_VOLUME $USER_VOLUME \
+		$DATA_VOLUME $USER_VOLUME $DEV_VOLUME \
 		$CONTAINER_IMAGE $USER_COMMAND
 
 fi

diff --git a/docker/tag.sh b/docker/tag.sh
@@ -4,50 +4,52 @@
 source docker/containers/scripts/l4t_version.sh
 
 if [ $ARCH = "aarch64" ]; then
-	# local container:tag name
-	CONTAINER_IMAGE="jetson-inference:r$L4T_VERSION"
+	# local container tag
+	CONTAINER_TAG="r$L4T_VERSION"
 
 	# incompatible L4T version
-	function version_error()
+	version_error()
 	{
-		echo "cannot find compatible jetson-inference docker container for L4T R$L4T_VERSION"
-		echo "please upgrade to the latest JetPack, or build jetson-inference natively from source"
+		echo "Docker containers aren't supported on Jetson prior to JetPack 4.4 / L4T R32.4.3"
+		echo "Please upgrade to the latest JetPack, or build jetson-inference natively from source"
 		exit 1
 	}
 
-	# get remote container URL
+	# adjust tags for compatible L4T versions
 	if [ $L4T_RELEASE -eq 32 ]; then
 		if [[ $L4T_REVISION_MAJOR -lt 4 && $L4T_REVISION_MINOR -gt 4 ]]; then
 			# L4T R32.4 was the first version containers are supported on
 			version_error
 		elif [ $L4T_REVISION_MAJOR -eq 5 ]; then
 			# L4T R32.5.x all run the R32.5.0 container
-			CONTAINER_IMAGE="jetson-inference:r32.5.0"
+			CONTAINER_TAG="r32.5.0"
 		elif [ $L4T_REVISION_MAJOR -eq 7 ]; then
 			# L4T R32.7.x all run the R32.7.0 container
-			CONTAINER_IMAGE="jetson-inference:r32.7.1"
+			CONTAINER_TAG="r32.7.1"
 		fi
 	elif [ $L4T_RELEASE -eq 35 ]; then
 		if [ $L4T_REVISION_MAJOR -gt 3 ]; then
-			CONTAINER_IMAGE="jetson-inference:r35.3.1"
+			CONTAINER_TAG="r35.3.1"
 		fi
 	fi
-
-	CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
-
+
 elif [ $ARCH = "x86_64" ]; then
-	# TODO:  add logic here for getting the latest release
-	CONTAINER_VERSION="22.06"
-	CONTAINER_IMAGE="jetson-inference:$CONTAINER_VERSION"
-	CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_IMAGE"
+	CONTAINER_TAG="22.06"  # NGC pytorch base container tag (TODO: query the latest release)
 fi
 
-# TAG is always the local container name
+# check if ROS is to be used
+if [ -n "$ROS_DISTRO" ]; then
+	CONTAINER_IMAGE="ros:$ROS_DISTRO-pytorch-l4t-$CONTAINER_TAG"
+else
+	CONTAINER_IMAGE="jetson-inference:$CONTAINER_TAG"
+fi
+
+# CONTAINER_LOCAL_IMAGE is always the local container name
 # CONTAINER_REMOTE_IMAGE is always the container name in NGC/dockerhub
 # CONTAINER_IMAGE is either local container name (if it exists on the system) or the remote image name
-TAG=$CONTAINER_IMAGE
+CONTAINER_LOCAL_IMAGE="$CONTAINER_IMAGE"
+CONTAINER_REMOTE_IMAGE="dustynv/$CONTAINER_LOCAL_IMAGE"
 
-# check for local image
-if [[ "$(sudo docker images -q $CONTAINER_IMAGE 2> /dev/null)" == "" ]]; then
+if [[ "$(sudo docker images -q $CONTAINER_LOCAL_IMAGE 2> /dev/null)" == "" ]]; then
 	CONTAINER_IMAGE=$CONTAINER_REMOTE_IMAGE
 fi