File size: 2,523 Bytes
15b8951 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 | # Go2 ROS 2 workspace image: driver + navigation (Nav2/SLAM) + local VLA stack (vlm).
#
# Targets the same distro this project is developed/tested against (see README).
# GPU-backed inference (local Qwen2.5-VL brain, YOLO) needs the NVIDIA Container
# Toolkit on the host and a GPU reservation at `docker run`/`docker compose` time —
# no CUDA base image is required since the pip wheels ship their own CUDA runtime.
#
# NaVILA is intentionally NOT part of this image: it needs its own conda env,
# hand-patched transformers build, and a ~16GB checkpoint pulled at setup time —
# see navila/setup_navila_blackwell.sh and run it on bare metal.
FROM ros:jazzy-ros-base
ENV DEBIAN_FRONTEND=noninteractive
# --- System packages (stable layer, only invalidated by this list changing) ---
RUN apt-get update && apt-get install -y --no-install-recommends \
curl \
gnupg2 \
lsb-release \
software-properties-common \
python3-pip \
clang \
portaudio19-dev \
mesa-utils \
libgl1-mesa-dev \
ffmpeg \
ros-${ROS_DISTRO}-rviz2 \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
ros-${ROS_DISTRO}-image-tools \
ros-${ROS_DISTRO}-vision-msgs \
&& rm -rf /var/lib/apt/lists/*
WORKDIR /ros2_ws
# --- Python deps in their own layer: only rebuilt when requirements.txt changes ---
COPY requirements.txt src/requirements.txt
# Ubuntu 24.04 marks the system interpreter "externally managed" (PEP 668); this
# image is disposable so overriding that guard is the pragmatic choice here.
RUN pip install --no-cache-dir --break-system-packages 'numpy<2.0.0' && \
pip install --no-cache-dir --break-system-packages -r src/requirements.txt
# --- Workspace source + ROS deps + build ---
COPY . src/
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
rosdep update && \
rosdep install --from-paths src --ignore-src -r -y && \
colcon build --symlink-install
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc && \
sed --in-place --expression \
'$isource "/ros2_ws/install/setup.bash"' \
/ros_entrypoint.sh
# Connection defaults — override at `docker run -e` / compose `environment:`,
# never bake real robot IPs or tokens into the image.
ENV ROBOT_IP=""
ENV ROBOT_TOKEN=""
ENV CONN_TYPE="webrtc"
ENV WEBRTC_SERVER_HOST="0.0.0.0"
ENV WEBRTC_SERVER_PORT="9991"
CMD ["ros2", "launch", "go2_navigation", "bringup.launch.py"]
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