add jetson-orbslam3 image

README.md

@@ -10,3 +10,5 @@ General purpose ros-kinetic image with acados and other USV dependencies.
 General purpose sdv ros2 image and scripts.
 ### rllib_trainer
 Used for rllib training.
+### jetson-orbslam3
+ORB-SLAM3 CUDA-ready image installed with useful packages like OpenCV, Pangolin and other dependencies.

jetson-orbslam3/Dockerfile

@@ -0,0 +1,97 @@
+FROM nvcr.io/nvidia/l4t-jetpack:r35.1.0
+
+RUN apt-get update
+
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get install -y gnupg2 curl lsb-core vim wget python3-pip libpng16-16 libjpeg-turbo8 libtiff5
+
+
+# Installing ROS-noetic
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
+RUN apt update
+RUN apt install -y ros-noetic-desktop
+RUN apt-get install -y python3-rosdep
+RUN rosdep init
+RUN rosdep update
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN apt install -y python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
+
+# Intalling python-catkin
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+RUN apt-get update
+RUN apt-get install -y python3-catkin-tools
+RUN apt-get install -y software-properties-common
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bash_profile
+
+
+RUN apt-get install -y \
+        # Base tools
+        cmake \
+        build-essential \
+        git \
+        unzip \
+        pkg-config \
+        python-dev \
+        # OpenCV dependencies
+        python-numpy \
+        # Pangolin dependencies
+        libgl1-mesa-dev \
+        libglew-dev \
+        libpython2.7-dev \
+        libeigen3-dev \
+        apt-transport-https \
+        ca-certificates\
+        software-properties-common
+
+RUN curl -fsSL https://download.sublimetext.com/sublimehq-pub.gpg | sudo apt-key add -
+RUN add-apt-repository "deb https://download.sublimetext.com/ apt/stable/"
+RUN apt update
+RUN apt install -y sublime-text
+
+# Build OpenCV (3.0 or higher should be fine)
+RUN apt-get install -y python3-dev python3-numpy 
+RUN apt-get install -y python-dev python-numpy
+RUN apt-get install -y libavcodec-dev libavformat-dev libswscale-dev
+RUN apt-get install -y libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
+RUN apt-get install -y libgtk-3-dev
+
+
+
+# # Build Pangolin
+RUN cd /tmp && git clone https://github.com/stevenlovegrove/Pangolin && \
+    cd Pangolin && git checkout v0.6 && mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++11 .. && \
+    make -j$nproc && make install && \
+    cd / && rm -rf /tmp/Pangolin
+
+    # Open CV
+RUN cd /tmp && git clone https://github.com/opencv/opencv/
+RUN cd /tmp && git clone https://github.com/opencv/opencv_contrib/
+RUN cd /tmp/opencv && \
+    mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-std=c++11 -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. && \
+    make -j4 && make install && \
+    cd / && rm -rf /tmp/opencv && rm -rf /tmp/opencv_contrib
+
+RUN apt install -y libopencv-dev python3-opencv python-is-python3
+
+RUN cd / && \
+    git clone -b docker_opencv3.2_fix https://github.com/jahaniam/ORB_SLAM3 /ORB_SLAM3 && \
+    cd /ORB_SLAM3 && chmod +x build.sh && ./build.sh 
+
+COPY ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x  /ros_entrypoint.sh
+ENV ROS_DISTRO noetic
+ENV LANG en_US.UTF-8
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+USER $USERNAME
+# terminal colors with xterm
+ENV TERM xterm
+WORKDIR /ORB_SLAM3
+CMD ["bash"]

jetson-orbslam3/ros_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+exec "$@"