From 4bf821104252e28840d7b81cd393141d30d49e54 Mon Sep 17 00:00:00 2001
From: isse <isse@isse-agx01.localdomain>
Date: Mon, 25 Nov 2024 17:51:20 +0100
Subject: [PATCH] First steps.

---
 ros/README-Jetson-Setup.md | 42 ++++++++++++++++++++++++++++++++++
 ros/dockerfile_jetson      | 47 ++++++++++++++++++++++++++++++++++++++
 run_container.sh           |  2 +-
 3 files changed, 90 insertions(+), 1 deletion(-)
 create mode 100644 ros/README-Jetson-Setup.md
 create mode 100644 ros/dockerfile_jetson

diff --git a/ros/README-Jetson-Setup.md b/ros/README-Jetson-Setup.md
new file mode 100644
index 0000000..c06f9bf
--- /dev/null
+++ b/ros/README-Jetson-Setup.md
@@ -0,0 +1,42 @@
+# ROS
+
+<br>
+
+## Build
+
+- Install system: \
+  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+
+- Install _docker_: \
+  (https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script)
+
+- Install _nvidia-container-toolkit_: \
+  (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+- Enable GPU-access for docker building:
+
+  Run `sudo nano /etc/docker/daemon.json` and add:
+
+  ```json
+  {
+    "runtimes": {
+      "nvidia": {
+        "path": "nvidia-container-runtime",
+        "runtimeArgs": []
+      }
+    },
+    "default-runtime": "nvidia"
+  }
+  ```
+
+  Restart docker: `sudo systemctl restart docker`
+
+- Install _vs-code_: \
+  (https://code.visualstudio.com/docs/setup/linux)
+
+
+- Test docker is working: \
+  ```bash
+  sudo docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:35.4.1
+  sudo docker run --runtime nvidia -it --rm --network=host nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
+  ```
diff --git a/ros/dockerfile_jetson b/ros/dockerfile_jetson
new file mode 100644
index 0000000..e3a8ef5
--- /dev/null
+++ b/ros/dockerfile_jetson
@@ -0,0 +1,47 @@
+FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+RUN apt-get update && apt-get install -y --no-install-recommends feh
+RUN apt-get update && apt-get install -y --no-install-recommends python3-opencv
+RUN pip uninstall -y opencv-python && pip install --no-cache "opencv-python<4.3"
+
+# Show matplotlib images
+RUN apt-get update && apt-get install -y --no-install-recommends python3-tk
+
+# Update pip to allow installation of skelda in editable mode
+RUN pip3 install --upgrade --no-cache-dir pip
+
+# Install MMPose
+# ENV FORCE_CUDA="1"
+# ENV MMCV_WITH_OPS=1
+RUN pip3 install --upgrade --no-cache-dir openmim
+RUN mim install mmengine
+RUN mim install "mmcv>=2,<2.2.0"
+RUN mim install "mmdet>=3"
+RUN mim install "mmpose>=1.1.0"
+# Fix an error when importing mmpose
+RUN pip3 install --upgrade --no-cache-dir numpy scipy
+RUN git clone --depth=1 --branch=main https://github.com/open-mmlab/mmpose.git
+
+# Download pretrained model
+COPY scripts/utils_2d_pose.py /
+RUN python3 -c "from utils_2d_pose import load_model; load_model();"
+RUN python3 -c "from utils_2d_pose import load_wb_model; load_wb_model();"
+
+# Fix an undefined symbol error with ompi
+RUN echo "ldconfig" >> ~/.bashrc
+
+# Install swig and later dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends build-essential
+RUN apt-get update && apt-get install -y --no-install-recommends swig
+# RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
+
+COPY ./skelda/ /skelda/
+RUN pip3 install --no-cache-dir -e /skelda/
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]
diff --git a/run_container.sh b/run_container.sh
index 348883b..15f2fb9 100755
--- a/run_container.sh
+++ b/run_container.sh
@@ -2,7 +2,7 @@
 
 xhost +
 docker run --privileged --rm --network host -it \
-  --gpus all --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \
+  --runtime nvidia --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \
   --volume "$(pwd)"/:/RapidPoseTriangulation/ \
   --volume "$(pwd)"/../datasets/:/datasets/ \
   --volume "$(pwd)"/skelda/:/skelda/ \