Prebuilt container for Ros Iron and jetson inference

[Fibo27]

Hi @dusty-nv
I am visiting your repo after a while - the revamped version looks well organized - kudos for that.

Do you have a prebuilt container that i can download from the hub that has Ros iron and Jetson Inference included - I want to use it on a Orin Nano

Thanks

[dusty-nv]

@Fibo27 sorry I don't - haven't integrated that build into new jetson-containers yet. If you switch back to the legacy branch though, you could try building it with the scripts/docker_build_ros.sh --distro=iron --with-pytorch

[Fibo27]

ok - i would presume then I have to add "iron" in line 47 of https://github.com/dusty-nv/jetson-containers/blob/bc8d0264ef25aa0d1d25a54e4658f491d2fa130f/scripts/docker_build_ros.sh - is that correct?

How about if I were to build a container using your latest script and then commit the changes using a new image name on dockerhub?

[dusty-nv]

The legacy branch already has iron in it: https://github.com/dusty-nv/jetson-containers/blob/legacy/scripts/docker_build_ros.sh https://github.com/dusty-nv/jetson-containers/blob/legacy/scripts/ros_distro.sh From: Fibo27 ***@***.***> Sent: Thursday, September 14, 2023 1:15 PM To: dusty-nv/jetson-containers ***@***.***> Cc: Dustin Franklin ***@***.***>; Mention ***@***.***> Subject: Re: [dusty-nv/jetson-containers] Prebuilt container for Ros Iron and jetson inference (Issue #286) ok - i would presume then I have to add "iron" in line 47 of https://github.com/dusty-nv/jetson-containers/blob/bc8d0264ef25aa0d1d25a54e4658f491d2fa130f/scripts/docker_build_ros.sh <url> - is that correct? How about if I were to build a container using your latest script and then commit the changes using a new image name on dockerhub? - Reply to this email directly, view it on GitHub<#286 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ADVEGKZTUI5D3QSGZZK7UX3X2M3SRANCNFSM6AAAAAA4YDSO6Y>. You are receiving this because you were mentioned.Message ID: ***@***.******@***.***>>

[jiefengsun]

@dusty-nv, thanks for the well-organized updates!
I would like to ask a few related questions:

1. Is is still true: The package options are: ros_base, ros_core, and desktop - note that the ROS2 Desktop packages only build on JetPack 5.x. in the readme.md. Because I see: dustynv/ros:humble-pytorch-l4t-r32.7.1 appeared 10 days ago.. I am wondering what it is based on, (the base, core, or desktop version)?
2. Is there a modularized way to build jetson-inference model as a package that we can select?
3. I saw that it has jetson-inference package built in humble-pytorch-l4t-r32.7.1. Is this true for all these with pytorch tag?

I would like to have a container like: humble-desktop-pytorch-jetsoninference-l4t-r32.7.1.
With the current code, I can easily build humble-desktop-pytorch-l4t-r32.7.1, but it seems not straightforward to add the jetson-inference library.

I am not sure what is the most convenient way to do this right now since the structure of building containers changed a lot.

[dusty-nv]

1. It's based on ros-base
2. Not yet, but I plan on adding it. In the jetson-inference dev branch I have begun migrating it
3. Yes, the pytorch tags actually have jetson-inference in them (in addition to pytorch)

For now, I would just revert to the jetson-containers legacy branch and you can continue building ros:*-pytorch containers the existing way. Hope that helps!

[jiefengsun]

@dusty-nv
Thanks! humble-pytorch-l4t-r32.7.1 works for me. I am able to pull it without building it locally.

I am looking forward to dev updates on building jetson inference as a package in containers. It will be a really useful function!

.