Merge branch 'add-ros' of https://github.com/ActiveIntelligentSystemsLab/pytorch-enet-docker into add-ros

Author: asobod11138

.gitignore

@@ -0,0 +1,3 @@
+catkin_ws/build/
+catkin_ws/devel/
+catkin_ws/.catkin_workspace

Dockerfile

@@ -5,5 +5,41 @@ MAINTAINER ShigemichiMatsuzaki <matsuzaki@aisl.cs.tut.ac.jp>
 WORKDIR /workspace
 COPY requirements.txt /tmp
 
-RUN pip install tensorflow tensorboard tensorboardX torchvision moviepy
 RUN pip install -r /tmp/requirements.txt && rm -rf /tmp/requirements.txt
+
+RUN apt-get update && apt install -y lsb-release \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*rm 
+
+# Install ROS
+#  Add key
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
+    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+#  Install ROS Melodic
+RUN apt-get update && apt install -y ros-kinetic-ros-base \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*rm 
+
+# Initialize the ROS environment
+RUN rosdep init && rosdep update 
+
+# Set entry point
+COPY ./ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod 777 /ros_entrypoint.sh
+RUN echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
+
+# Set environment variables
+ENV PATH /opt/ros/kinetic/bin:/usr/local/mpi/bin:/usr/local/nvidia/bin:/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ENV PYTHONPATH /opt/ros/kinetic/lib/python2.7/dist-packages:$PYTHONPATH
+ENV ROS_DISTRO kinetic
+
+# Install LibTorch, a C++ API of PyTorch
+#  - Following the instruction in https://github.com/pytorch/pytorch/blob/master/docs/libtorch.rst
+#  - Use /opt/conda/bin/python because the default python can't locate necessary modules due to its configuration
+RUN cd /opt/pytorch/pytorch/ && mkdir build_libtorch && cd build_libtorch \
+    && /opt/conda/bin/python ../tools/build_libtorch.py
+
+RUN echo 'alias pt-python="/opt/conda/bin/python $@"' >> ~/.bashrc
+
+ENTRYPOINT ["/ros_entrypoint.sh"]

catkin_ws/src/CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

docker-compose.yml

@@ -4,7 +4,14 @@ services:
     container_name: pytorch-train
     image: aisl/pytorch:latest
     runtime: nvidia
-    command: python /root/PyTorch-ENet/main.py -m train --save-dir /root/PyTorch-ENet/save/ENet_CamVid_matsuzaki_20190921/ --name my_cityscapes_20190921 --dataset camvid --dataset-dir /tmp/dataset/CamVid/ --batch-size 8
+    build: .
+    command: >
+      python /root/PyTorch-ENet/main.py -m train 
+      --save-dir /root/PyTorch-ENet/save/ENet_CamVid_matsuzaki_20190921/ 
+      --name my_cityscapes_20190921 
+      --dataset camvid 
+      --dataset-dir /tmp/dataset/CamVid/ 
+      --batch-size 8
     volumes:
       - ./PyTorch-ENet:/root/PyTorch-ENet
       - /media/data/dataset/matsuzaki:/tmp/dataset
@@ -14,7 +21,33 @@ services:
     container_name: tensorboard
     image: aisl/pytorch:latest
     command: tensorboard --logdir /root/PyTorch-ENet/runs
+    build: .
     ports:
       - 60006:6006
     volumes:
       - ./PyTorch-ENet:/root/PyTorch-ENet
+
+  roscore:
+    container_name: roscore
+    network_mode: "host"
+    build: .
+    runtime: nvidia
+    image: aisl/pytorch:latest
+    command: roscore
+    environment:
+      - ROS_MASTER_URI=http://localhost:11311
+    volumes:
+      - ./catkin_ws/:/root/catkin_ws/
+      - ./PyTorch-ENet:/root/PyTorch-ENet
+    tty: true
+
+  bash:
+    container_name: bash
+    network_mode: "host"
+    build: .
+    image: aisl/pytorch:latest
+    entrypoint: bash
+    environment:
+      - ROS_MASTER_URI=http://localhost:11311
+    tty: true
+    #  bash -c "source /opt/ros/kinetic/setup.bash && roscore"

requirements.txt

@@ -9,3 +9,8 @@ pytz==2018.9
 six==1.12.0
 torch==1.0.0
 torchvision==0.2.1
+moviepy
+setuptools==41.0.0
+tensorflow==1.13.2
+tensorboard==1.13.0
+tensorboardX==1.8

ros_entrypoint.sh

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