From 192c0d407af00d64170e0c9c85a7b8f51215430c Mon Sep 17 00:00:00 2001
From: Christopher Kelter <Christopher.Kelter@student.uibk.ac.at>
Date: Tue, 7 Mar 2023 09:41:42 +0100
Subject: [PATCH] added documentation and finalized docker containers
---
.docker/Dockerfile | 8 +--
Dockerfile | 16 ++----
README.md | 125 ++++++++++++++-------------------------------
3 files changed, 48 insertions(+), 101 deletions(-)
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 565975f..d214884 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -2,8 +2,8 @@
# this dockerfile roughly follows the 'Installing from source' from:
# http://wiki.ros.org/noetic/Installation/Source
#
-#ARG BASE_IMAGE=nvcr.io/nvidia/l4t-tensorflow:r32.7.1-tf2.7-py3
-ARG BASE_IMAGE=nvcr.io/nvidia/l4t-ml:r32.7.1-py3
+ARG BASE_IMAGE=nvcr.io/nvidia/l4t-tensorflow:r32.7.1-tf2.7-py3
+#ARG BASE_IMAGE=nvcr.io/nvidia/l4t-ml:r32.7.1-py3
FROM ${BASE_IMAGE}
ARG ROS_PKG=ros_base
@@ -73,9 +73,9 @@ RUN mkdir ros_catkin_ws && \
#RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /root/.bashrc
#ENTRYPOINT ["/ros_entrypoint.sh"]
-# install some required software
+# install some required software (if no opencv image is used, opencv needs to be installed)
RUN apt update
-RUN apt install -y python3-catkin-tools
+RUN apt-get install -y python3-opencv libopencv-dev python3-catkin-tools
CMD ["bash"]
WORKDIR /
diff --git a/Dockerfile b/Dockerfile
index 6a2d2f0..8146f1b 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,27 +1,20 @@
FROM docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm
-
-RUN apt update
-# python3-opencv
-#RUN apt install -y python3-catkin-tools
-
EXPOSE 11311
#EXPOSE 9090
-SHELL ["/bin/bash", "-c"] # set bash to default shell
+# set bash to default shell
+SHELL ["/bin/bash", "-c"]
RUN mkdir -p /root/.ssh/
-
# create catkin workspace for cvbridge
RUN mkdir -p /app/cvbridge_build_ws/src
WORKDIR /app/cvbridge_build_ws/src
RUN git clone -b noetic https://github.com/ros-perception/vision_opencv.git
RUN sed -i "s/python37/python3/g" vision_opencv/cv_bridge/CMakeLists.txt
WORKDIR /app/cvbridge_build_ws
-#RUN catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so && catkin config --install && catkin build cv_bridge
RUN source /opt/ros/noetic/setup.bash && catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so && catkin config --install && catkin build cv_bridge
-RUN echo "source /app/cvbridge_build_ws/install/setup.bash --extend" >> ~/.bashrc
# create catkin workspace dir
@@ -34,7 +27,8 @@ RUN chmod +x -R /app/catkin_ws/src
WORKDIR /app/catkin_ws
RUN source /opt/ros/noetic/setup.bash && catkin build
RUN echo "source /app/catkin_ws/devel/setup.bash" >> ~/.bashrc
+RUN echo "source /app/cvbridge_build_ws/install/setup.bash --extend" >> ~/.bashrc
+# source CV bridge is required at the end
WORKDIR /app/catkin_ws
-ENTRYPOINT ["bash"]
-
+ENTRYPOINT ["bash"]
\ No newline at end of file
diff --git a/README.md b/README.md
index f6d1fe1..fc5c550 100644
--- a/README.md
+++ b/README.md
@@ -1,92 +1,45 @@
# Minibot Vision
+This repository contains the sources to evaluate camera input for our minibot. The following workshops are now supported:
+- Traffic sign workshop
+## Todos
+- GPU support for opencv
+# Available docker images
+| Image | Description |
+|---------------------------------------------------------------|----------------------------------------|
+| `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm` | Tensorflow 2.7, ROS noetic, python 3.6 |
+| `docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm ` | cv_bridge, minibot-vision |
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
+# Getting started
+To run the core docker image with `tensorflow`, `ROS noetic` and `minibot-vision` with GPU support for tensorflow, execute the following command:
```
-cd existing_repo
-git remote add origin https://git.uibk.ac.at/informatik/stair/minibot-vision.git
-git branch -M main
-git push -uf origin main
+sudo docker run -it --runtime=nvidia -v /usr/local/cuda-10.2/targets/aarch64-linux/lib:/usr/local/cuda-10.2/targets/aarch64-linux/lib:ro --rm docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm
+```
+This creates an interactive container starting with the shell as entrypoint. After the container has been stopped it will be deleted.
+
+# Building docker container
+## Base Image with Tensorflow and ROS noetic
+To run the sources of this repository on our minibot with GPU support a specific docker image (`nvcr.io/nvidia/l4t-tensorflow:r32.7.1-tf2.7-py3`) is required.
+This image has been used to create an image with ROS noetic on Ubunut 18.04. The final image with tensorflow and ROS noetic is available on the UIBK docker registry: `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm`
+### Build image from Dockerfile
+Navigate to the directory `.docker` and execute the following command on the minibot:
+```
+sudo docker build --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm .
+```
+If you want to build the image on another device (not arm64/v8) the following command is required:
+```
+sudo docker buildx build --platform=linux/arm64/v8 --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm .
+```
+## Core image with minibot vision
+Based on the `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm` image a docker image with cv_bridge and the minibot-vision sources complied has been created: `docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm`.
+Inside the container the minibot-vision sources are available in the directory`/app/catkin_ws/src`.
+### Build image from Dockerfile
+To build the image with the sources of the repository and using the base image the following command is required:
+```
+sudo docker build --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm .
+```
+If you want to build the image on another device (not arm64/v8) the following command is required:
+```
+sudo docker buildx build --platform=linux/arm64/v8 --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm .
```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://git.uibk.ac.at/informatik/stair/minibot-vision/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
--
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