GR00T-WholeBodyControl/gear_sonic_deploy/docker/Dockerfile.ros2

# Unified Multi-architecture G1 Deploy Development Environment
# Based on NVIDIA CUDA official image
# Supports: x86_64, ARM64, Jetson (auto-detected by install scripts)
# Uses project install scripts for consistency with bare-metal installations
#
# Build args:
#   CUDA_VERSION=12.4.1 (default for all platforms including Jetson)
#
# Supported platforms:
#   - x86_64 with CUDA 12.4.1
#   - ARM64 with CUDA 12.4.1
#   - Jetson with CUDA 12.6 host (runs 12.4.1 container - forward compatible)
#
# Note: Official nvidia/cuda images are already multi-arch (x86_64 + arm64)
#
ARG CUDA_VERSION=12.4.1
ARG CUDA_BASE_IMAGE=nvidia/cuda
FROM ${CUDA_BASE_IMAGE}:${CUDA_VERSION}-devel-ubuntu22.04

# Prevent interactive prompts during build
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=UTC

# Display build information
ARG CUDA_VERSION
RUN echo "======================================" && \
    echo "G1 Deploy Unified Development Container" && \
    echo "Architecture: $(uname -m)" && \
    echo "CUDA Version: ${CUDA_VERSION}" && \
    echo "Base: Ubuntu 22.04 with NVIDIA CUDA" && \
    echo "Jetson detection: Automatic via install scripts" && \
    echo "======================================" && \
    echo ""

# Set timezone and install minimal prerequisites for running install scripts
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && \
    echo $TZ > /etc/timezone && \
    apt-get update && apt-get install -y \
    sudo \
    curl \
    wget \
    lsb-release \
    software-properties-common \
    tzdata \
    iproute2 \
    && rm -rf /var/lib/apt/lists/*

# Copy install scripts
COPY scripts/install_deps.sh /tmp/
COPY scripts/install_ros2_humble.sh /tmp/

# Run install scripts (same as bare-metal installation)
# Note: install_deps.sh auto-detects Jetson and installs appropriate packages
RUN chmod +x /tmp/install_deps.sh /tmp/install_ros2_humble.sh && \
    echo "📦 Running install_deps.sh (with auto Jetson detection)..." && \
    DEBIAN_FRONTEND=noninteractive /tmp/install_deps.sh && \
    echo "🤖 Running install_ros2_humble.sh..." && \
    DEBIAN_FRONTEND=noninteractive /tmp/install_ros2_humble.sh && \
    rm /tmp/install_deps.sh /tmp/install_ros2_humble.sh

# TensorRT will be mounted from host system
# No installation - uses host's TensorRT version

# Set up CUDA environment variables
ENV CUDA_HOME=/usr/local/cuda
ENV CUDAToolkit_ROOT=/usr/local/cuda
ENV PATH=$CUDA_HOME/bin:$PATH
ENV LD_LIBRARY_PATH=$CUDA_HOME/lib64:$LD_LIBRARY_PATH

# Set up TensorRT environment (will be mounted from host)
ENV TensorRT_ROOT=/opt/TensorRT
ENV LD_LIBRARY_PATH=$TensorRT_ROOT/lib:$LD_LIBRARY_PATH

# Set up ONNX Runtime environment
ENV onnxruntime_DIR=/opt/onnxruntime/lib/cmake/onnxruntime
ENV LD_LIBRARY_PATH=/opt/onnxruntime/lib:$LD_LIBRARY_PATH

WORKDIR /workspace

# Note: Environment setup is now handled by install scripts and setup_env.sh
# This maintains consistency between Docker and bare-metal installations

# Final setup message
ARG CUDA_VERSION
RUN echo "" && \
    echo "🚀 G1 Deploy Unified Container Ready!" && \
    echo "=====================================" && \
    echo "✅ Architecture: $(uname -m)" && \
    echo "✅ NVIDIA CUDA ${CUDA_VERSION}" && \
    echo "✅ ROS2 Humble Desktop" && \
    echo "✅ ONNX Runtime 1.16.3" && \
    echo "✅ TensorRT (via host mount)" && \
    echo "✅ Jetson auto-detection enabled" && \
    echo "=====================================" && \
    echo ""