First steps.

ros/dockerfile_jetson

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+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"]