turtlebot3-rust/Dockerfile.system at master · Daksh14/turtlebot3-rust · GitHub

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##############################################
# Created from template ros2.dockerfile.jinja
##############################################

###########################################
# Base image
###########################################
FROM ubuntu:24.04 AS base

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y --no-install-recommends \
    locales \
    && locale-gen en_US.UTF-8 \
    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
    && rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
    && export DEBIAN_FRONTEND=noninteractive \
    && apt-get update \
    && apt-get install -y --no-install-recommends tzdata \
    && dpkg-reconfigure --frontend noninteractive tzdata \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    clang \
    unzip \
    libclang-dev \
    cmake \
    ffmpeg \
    pkg-config \
    libavutil-dev \
    libavformat-dev \
    libavfilter-dev \
    libavdevice-dev \
    libgtest-dev \
    libgmock-dev \
    build-essential \
    gcc-arm-linux-gnueabi \
    gcc-arm-linux-gnueabihf \
    gcc-aarch64-linux-gnu \
    g++-arm-linux-gnueabi \
    g++-arm-linux-gnueabihf \
    git \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
    && 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" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
    && apt-get update && apt-get install -y --no-install-recommends \
    ros-jazzy-ros-base \
    python3-argcomplete \
    && rm -rf /var/lib/apt/lists/*

# -------------------------------
# Install Rust
# -------------------------------
RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
ENV PATH="/root/.cargo/bin:${PATH}"

# Add cross-compilation support for aarch64
RUN rustup target add aarch64-unknown-linux-gnu
RUN dpkg --add-architecture aarch64
RUN sudo apt-get update

# onnx runtime
RUN git clone --recursive https://github.com/Microsoft/onnxruntime.git
RUN cd onnxruntime && git submodule update --init --recursive && ./build.sh --config Release --build_shared_lib --parallel --x86 --skip_winml_tests --skip_test --arm --allow_running_as_root