gr00t-WholeBodyControl/decoupled_wbc/docker/Dockerfile.deploy.base

# Multi-architecture Dockerfile for NVIDIA CUDA
# Supports linux/amd64 and linux/arm64
FROM nvidia/cuda:12.4.0-runtime-ubuntu22.04

# Build info - ARGs need to be redeclared after FROM to use in RUN commands
ARG TARGETPLATFORM
ARG BUILDPLATFORM
RUN echo "Building for $TARGETPLATFORM on $BUILDPLATFORM"

# Avoid prompts from apt
ENV DEBIAN_FRONTEND=noninteractive

# Install minimal system dependencies
RUN apt-get update && \
    apt-get install -y \
    # Basic tools
    build-essential \
    curl \
    gdb \
    git \
    git-lfs \
    net-tools \
    sudo \
    wget \
    iputils-ping \
    vim \
    unzip \
    # System services
    udev \
    # Graphics and X11
    libgl1-mesa-dri \
    libgl1-mesa-glx \
    libglu1-mesa \
    mesa-utils \
    libxcb-cursor0 \
    x11-apps \
    xauth \
    # EGL and GPU access
    libegl1 \
    libegl1-mesa \
    libegl1-mesa-dev \
    libgl1-mesa-dev \
    libgles2-mesa-dev \
    libglvnd-dev \
    mesa-common-dev \
    # XCB and Qt platform dependencies
    libxcb-icccm4 \
    libxcb-image0 \
    libxcb-keysyms1 \
    libxcb-randr0 \
    libxcb-render-util0 \
    libxcb-shape0 \
    libxcb-xfixes0 \
    libxcb-xinerama0 \
    libxcb-xinput0 \
    libxcb-xkb1 \
    libxkbcommon-x11-0 \
    # D-Bus and system dependencies
    libdbus-1-3 \
    # Other dependencies
    libncurses5-dev \
    libudev-dev \
    libusb-1.0-0-dev \
    # Python 3.10 and pip
    python3.10 \
    python3.10-venv \
    python3.10-distutils \
    python3-pip \
    expect \
    # ffmpeg and related libraries
    ffmpeg \
    libavcodec-dev \
    libavformat-dev \
    libavdevice-dev \
    libavfilter-dev \
    libavutil-dev \
    libswresample-dev \
    libswscale-dev \
    # opencv
    libgtk2.0-dev \
    # Clean up
    && rm -rf /var/lib/apt/lists/*

# --- Install ROS 2 Humble (following official instructions) ---
# Enable required repositories
RUN apt-get update && apt-get install -y software-properties-common \
    && add-apt-repository universe \
    # Add ROS 2 GPG key and repository
    && apt-get install -y curl gnupg lsb-release \
    && 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" > /etc/apt/sources.list.d/ros2.list \
    # Upgrade system to avoid removal of critical packages (see ROS 2 docs)
    && apt-get update \
    && apt-get upgrade -y \
    # Install ROS 2 Humble desktop
    && apt-get install -y ros-humble-desktop \
    # (Optional) Install development tools
    && apt-get install -y ros-dev-tools \
    # Install Eclipse Cyclone DDS RMW implementation
    && apt-get install -y ros-humble-rmw-cyclonedds-cpp \
    # Clean up
    && rm -rf /var/lib/apt/lists/*

# Source ROS 2 setup in bashrc for all users
RUN echo 'source /opt/ros/humble/setup.bash' >> /etc/bash.bashrc

# Clone, build, and install CycloneDDS 0.10.x
RUN git clone --branch releases/0.10.x https://github.com/eclipse-cyclonedds/cyclonedds /opt/cyclonedds && \
    mkdir -p /opt/cyclonedds/build /opt/cyclonedds/install && \
    cd /opt/cyclonedds/build && \
    cmake .. -DCMAKE_INSTALL_PREFIX=../install && \
    cmake --build . --target install && \
    # Clean up build files to reduce image size
    rm -rf /opt/cyclonedds/build

# Set CYCLONEDDS_HOME for all users
ENV CYCLONEDDS_HOME=/opt/cyclonedds/install

# Install uv
RUN curl -LsSf https://astral.sh/uv/install.sh | env UV_INSTALL_DIR=/opt/uv sh

# Add uv to PATH
ENV PATH="/opt/uv:$PATH"
ENV UV_PYTHON=/opt/venv/bin/python

# Fix dpkg state and install tmux
RUN dpkg --configure -a && apt-get update && apt-get install -y tmux && rm -rf /var/lib/apt/lists/*

# Create NVIDIA ICD config for EGL if it doesn't exist
# Note: This might need platform-specific handling for ARM64
RUN if [ ! -f /usr/share/glvnd/egl_vendor.d/10_nvidia.json ]; then \
    mkdir -p /usr/share/glvnd/egl_vendor.d && \
    printf '{\n    "file_format_version" : "1.0.0",\n    "ICD" : {\n        "library_path" : "libEGL_nvidia.so.0"\n    }\n}' | tee /usr/share/glvnd/egl_vendor.d/10_nvidia.json > /dev/null; \
    fi

# Platform-specific configurations
RUN case "$TARGETPLATFORM" in \
    "linux/arm64") \
        echo "Configuring for ARM64 platform" && \
        # Add any ARM64-specific configurations here
        echo "export GPU_FORCE_64BIT_PTR=1" >> /etc/environment \
        ;; \
    "linux/amd64") \
        echo "Configuring for AMD64 platform" && \
        # Add any AMD64-specific configurations here
        echo "AMD64 platform configured" \
        ;; \
    *) \
        echo "Unknown platform: $TARGETPLATFORM" \
        ;; \
    esac

# Add labels for better image management
LABEL org.opencontainers.image.title="Multi-Arch CUDA Runtime with ROS 2 Humble"
LABEL org.opencontainers.image.description="Multi-architecture Docker image with CUDA runtime and ROS 2 Humble"