Dockerfile.gpu

ARG UBUNTU_VERSION=18.04

FROM nvidia/cudagl:10.0-devel-ubuntu${UBUNTU_VERSION} as base

# This line instructs `debconf` to store in its database an answer for the program debconf.
# If (the running program) debconf later asks (the database of answers) debconf what is 
# my frontend the answer will be frontend is Noninteractive.
RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections

ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display

RUN apt-get update && apt-get install -y --no-install-recommends \
        mesa-utils && \
    rm -rf /var/lib/apt/lists/*

# Pick up some TF dependencies
RUN apt-get update && apt-get install -y --no-install-recommends \
        build-essential \
        sudo \
        cuda-command-line-tools-10-0 \
        cuda-cublas-10-0 \
        cuda-cufft-10-0 \
        cuda-curand-10-0 \
        cuda-cusolver-10-0 \
        cuda-cusparse-10-0 \
        libcudnn7=7.4.1.5-1+cuda10.0 \
        libfreetype6-dev \
        libhdf5-serial-dev \
        # libpng12-dev \
        libzmq3-dev \
        pkg-config \
        software-properties-common \
        wget \
        git \
        rsync \
        unzip

# RUN apt-get update && \
#         apt-get install nvinfer-runtime-trt-repo-ubuntu1604-5.0.2-ga-cuda10.0 \
#         && apt-get update \
#         && apt-get install -y --no-install-recommends libnvinfer5=5.0.2-1+cuda10.0 \
#         && apt-get clean \
#         && rm -rf /var/lib/apt/lists/*

# graphic server
RUN apt-get update && apt-get install -y x11-xserver-utils

# For CUDA profiling, TensorFlow requires CUPTI.
ENV LD_LIBRARY_PATH /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH

ARG USE_PYTHON_3_NOT_2=1
ARG _PY_SUFFIX=${USE_PYTHON_3_NOT_2:+3}
ARG PYTHON=python${_PY_SUFFIX}
ARG PIP=pip${_PY_SUFFIX}

# See http://bugs.python.org/issue19846
ENV LANG C.UTF-8

RUN apt-get update && apt-get install -y \
    ${PYTHON} \
    ${PYTHON}-pip

RUN ${PIP} --no-cache-dir install --upgrade \
    pip \
    setuptools

# Some TF tools expect a "python" binary
RUN ln -s $(which ${PYTHON}) /usr/local/bin/python 

# Options:
#   tensorflow
#   tensorflow-gpu
#   tf-nightly
#   tf-nightly-gpu
ARG TF_PACKAGE=tf-nightly-gpu
RUN ${PIP} install ${TF_PACKAGE}

RUN ${PIP} install msgpack-rpc-python

COPY bashrc /etc/bash.bashrc
RUN chmod a+rwx /etc/bash.bashrc

ENV DEBIAN_FRONTEND noninteractive
ENV TZ=America/Detroit
RUN apt-get update && apt-get install -y tzdata

# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*

# install packages
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    lsb-release \
    && rm -rf /var/lib/apt/lists/*

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8
ENV ROS_LOG_DIR=/home/sim/.ros

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO melodic
RUN apt-get update && apt-get install -y \ 
    ros-${ROS_DISTRO}-desktop

RUN ${PIP} install rospkg pyyaml osc4py3
RUN apt-get update && apt-get install -y \
        python3-jinja2 \
        python3-empy \
        && rm -rf /var/lib/apt/lists/*
RUN ${PIP} install numpy toml catkin_pkg \
    dronekit dronekit-sitl

RUN apt-get update && apt-get install -y \ 
    ros-${ROS_DISTRO}-image-common

RUN apt-get install -y --no-install-recommends \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    libgstreamer-plugins-good1.0-dev \
    libgstreamer-plugins-bad1.0-dev \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-plugins-ugly \
    gstreamer1.0-libav libgstrtspserver-1.0-dev \
    gtk-doc-tools

ARG USER_ID=1000
ARG GROUP_ID=1000

RUN groupadd -g ${GROUP_ID} sim && \
    useradd -m -l -u ${USER_ID} -g sim sim && \
    echo "sim:sim" | chpasswd && adduser sim sudo && \
    echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

ENV HOME /home/sim
ENV SIM_ROOT=$HOME

RUN wget -O ArrayFire-v3.6.3_Linux_x86_64.sh https://arrayfire.s3.amazonaws.com/3.6.3/ArrayFire-v3.6.3_Linux_x86_64.sh \
    && chmod +x ./ArrayFire-v3.6.3_Linux_x86_64.sh
RUN ./ArrayFire-v3.6.3_Linux_x86_64.sh --include-subdir --prefix=/opt \
     && echo "/opt/arrayfire/lib64" > /etc/ld.so.conf.d/arrayfire.conf \
     && ldconfig

USER sim
WORKDIR $HOME