Make l4t container buildable

.gitignore

@@ -1,3 +1,5 @@
+requirements.txt
+
 /models
 /test/data
 

l4t.Dockerfile

@@ -1,113 +1,39 @@
 FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
-ENV DEBIAN_FRONTEND=noninteractive
-
-RUN echo 'Etc/UTC' > /etc/timezone && \
-    apt-get update && \
-    apt-get install -q -y --no-install-recommends tzdata && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN \
-  useradd user && \
-  echo "user ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/user && \
-  chmod 0440 /etc/sudoers.d/user && \
-  mkdir -p /home/user && \
-  chown user:user /home/user && \
-  chsh -s /bin/bash user
-
-RUN echo 'root:root' | chpasswd
-RUN echo 'user:user' | chpasswd
 
-# install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
-    build-essential \
-    sudo \
-    git \
-    dirmngr \
-    gnupg2 \
-    curl \
-    lsb-release \
-    wget \
-    && rm -rf /var/lib/apt/lists/*
-
-# setup sources.list
-RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-
-# setup keys
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-# setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-ENV ROS_DISTRO noetic
+ENV DEBIAN_FRONTEND=noninteractive
 
 # Remove OpenCV built with CUDA by NVIDIA. It conflicts with original OpenCV deb
 RUN apt purge opencv-* -y
 
-# install ros packages
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-noetic-ros-core=1.5.0-1* \
-    ros-noetic-ros-base=1.5.0-1* \
-    build-essential \
-    python3-rosdep \
-    python3-rosinstall \
-    python3-vcstools \
-    ros-noetic-jsk-tools \
-    ros-noetic-image-transport-plugins \
-    python3-osrf-pycommon \
-    python3-catkin-tools \
-    python3-wstool \
-    ros-noetic-jsk-pcl-ros \
-    ros-noetic-jsk-pcl-ros-utils \
-    && rm -rf /var/lib/apt/lists/*
-
-WORKDIR /home/user
-
-USER user
-CMD /bin/bash
-SHELL ["/bin/bash", "-c"]
+# Install ROS
+RUN apt update && apt install -y -qq curl &&\
+    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' &&\
+    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&\
+    apt update && apt install -y -qq \
+    python3-catkin-tools python3-rosdep ros-noetic-desktop-full ros-noetic-jsk-recognition &&\
+    rm -rf /var/lib/apt/lists/*
 
-########################################
-########### WORKSPACE BUILD ############
-########################################
-# Installing catkin package
-RUN mkdir -p ~/detic_ws/src
-RUN sudo rosdep init && rosdep update
+# Upgrade pip-setup related packages to make grpcio install faster. Without this line, the grpcio would be compiled from source and it takes so much time.
+RUN pip3 install --upgrade pip 'setuptools<=68.2.2' wheel && rm -rf ~/.cache/pip
 
 # Build detectron2 from source. The aarch64 version is not released
 RUN cd /tmp &&\
-    git clone -b v0.6 https://github.com/facebookresearch/detectron2 &&\
-    pip3 install --no-cache-dir -e detectron2
-
-RUN mkdir -p ~/detic_ws/src/detic_ros/node_script
-COPY --chown=user requirements.txt /home/user/detic_ws/src/detic_ros
-COPY --chown=user prepare.sh /home/user/detic_ws/src/detic_ros
-RUN cd ~/detic_ws/src/detic_ros && ./prepare.sh &&\
+    git clone --depth 1 -b v0.6 https://github.com/facebookresearch/detectron2 &&\
+    pip3 install --no-cache-dir -e detectron2 &&\
     rm -rf ~/.cache/pip
 
-COPY --chown=user . /home/user/detic_ws/src/detic_ros
-RUN cd ~/detic_ws/src/detic_ros && git submodule update --init --recursive
-RUN cd ~/detic_ws/src &&\
-    source /opt/ros/noetic/setup.bash &&\
-    wstool init &&\
-    wstool merge detic_ros/rosinstall.noetic &&\
-    wstool update &&\
-    sudo apt update &&\
-    rosdep install --from-paths . --ignore-src -y -r &&\
-    source /opt/ros/noetic/setup.bash &&\
-    rosdep install --from-paths . -i -r -y &&\
-    sudo rm -rf /var/lib/apt/lists/* &&\
-    cd ~/detic_ws && catkin init && catkin build
-
-# to avoid conflcit when mounting
-RUN rm -rf ~/detic_ws/src/detic_ros/launch
-
-########################################
-########### ENV VARIABLE STUFF #########
-########################################
-RUN touch ~/.bashrc
-RUN echo "source ~/detic_ws/devel/setup.bash" >> ~/.bashrc
-RUN echo 'export PATH="$PATH:$HOME/.local/bin"' >> ~/.bashrc
-
-RUN sudo usermod -aG video user
+# Copy repository and install system dependencies
+RUN rosdep init
+RUN mkdir -p /catkin_ws/src/detic_ros
+COPY package.xml /catkin_ws/src/detic_ros
+RUN cd /catkin_ws/src/detic_ros &&\
+    apt update &&\
+    rosdep update &&\
+    rosdep install --rosdistro=noetic -iqry --from-paths /catkin_ws/src &&\
+    rm -rf /var/lib/apt/lists/*
 
-CMD ["bash"]
+# Build
+COPY . /catkin_ws/src/detic_ros
+RUN sed -i '1,3d' /catkin_ws/src/detic_ros/requirements_without_torch.txt
+RUN cd /catkin_ws &&\
+    /opt/ros/noetic/env.sh catkin build detic_ros --cmake-args -DDETIC_ROS_INSTALL_TORCH=OFF