Lane detection ROS2 node

.github/include/base_image_config.json

@@ -61,6 +61,14 @@
             "ros2": "humble"
         }
     },
+    {
+        "tag": "cuda12.2-humble-tensorrt-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/tensorrt:23.09-py3",
+        "injections": {
+            "ros2": "humble",
+            "opencv": "4.5.4"
+        }
+    },
 
 
 

.github/workflows/build_base_images.yml

@@ -98,6 +98,24 @@ jobs:
             GENERIC_IMAGE=${{ matrix.external_image }}
             ROS_DISTRO=${{ matrix.injections.ros2 }}
 
+      - name: Inject OpenCV into Image
+        if: ${{ matrix.injections.opencv != '' }}
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/base/inject_opencv.Dockerfile
+          push: true
+          tags: |
+            ${{ steps.construct-registry-url.outputs.url }}_generic
+          cache-from: |
+            ${{ steps.construct-registry-url.outputs.url }}_generic
+          cache-to: type=inline
+          builder: ${{ steps.buildx.outputs.name }}
+          target: wato_base
+          build-args: |
+            GENERIC_IMAGE=${{ matrix.external_image }}
+            OPENCV_VERSION=${{ matrix.injections.opencv }}
+
       - name: Prepare Generic Image as Monorepo Base Image
         uses: docker/build-push-action@v5
         with:

docker/base/inject_opencv.Dockerfile

@@ -0,0 +1,8 @@
+ARG GENERIC_IMAGE
+
+########################## Install ROS2 Core ##########################
+FROM ${GENERIC_IMAGE} as wato_base
+
+RUN apt-get update
+RUN apt install -y libopencv-dev python3-opencv
+RUN export OpenCV_DIR=/usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake

docker/base/inject_ros2.Dockerfile

@@ -5,7 +5,7 @@ FROM ${GENERIC_IMAGE} as core
 
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
-    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
     apt-get update && \
     apt-get install -q -y --no-install-recommends tzdata && \
     rm -rf /var/lib/apt/lists/*