Add Melodic support

Makefile

@@ -107,6 +107,28 @@ nvidia_ros_kinetic_cuda10_cudnn7_opencv3: nvidia_ros_kinetic_cuda10_cudnn7 ## [N
 	docker build -t turlucode/ros-kinetic:cuda10-cudnn7-opencv3 nvidia/kinetic/cuda10/cudnn7/opencv3
 	@printf "\n\033[92mDocker Image: turlucode/ros-kinetic:cuda10-cudnn7-opencv3\033[0m\n"
 
+## MELODIC
+
+nvidia_ros_melodic: ## [NVIDIA] Build ROS  Melodic Container
+	docker build -t turlucode/ros-melodic:nvidia nvidia/melodic/base
+	@printf "\n\033[92mDocker Image: turlucode/ros-melodic:nvidia\033[0m\n"
+
+nvidia_ros_melodic_cuda10: nvidia_ros_melodic ## [NVIDIA] Build ROS  Melodic Container | (CUDA 10   - no cuDNN)
+	docker build -t turlucode/ros-melodic:cuda10 nvidia/melodic/cuda10
+	@printf "\n\033[92mDocker Image: turlucode/ros-melodic:cuda10\033[0m\n"
+
+nvidia_ros_melodic_cuda10-1: nvidia_ros_melodic ## [NVIDIA] Build ROS  Melodic Container | (CUDA 10.1 - no cuDNN)
+	docker build -t turlucode/ros-melodic:cuda10.1 nvidia/melodic/cuda10.1
+	@printf "\n\033[92mDocker Image: turlucode/ros-melodic:cuda10.1\033[0m\n"
+
+nvidia_ros_melodic_cuda10_cudnn7: nvidia_ros_melodic_cuda10 ## [NVIDIA] Build ROS  Melodic Container | (CUDA 10   - cuDNN 7)
+	docker build -t turlucode/ros-melodic:cuda10-cudnn7 nvidia/melodic/cuda10/cudnn7
+	@printf "\n\033[92mDocker Image: turlucode/ros-melodic:cuda10-cudnn7\033[0m\n"
+
+nvidia_ros_melodic_cuda10-1_cudnn7: nvidia_ros_melodic_cuda10.1 ## [NVIDIA] Build ROS  Melodic Container | (CUDA 10.1 - cuDNN 7)
+	docker build -t turlucode/ros-melodic:cuda10-cudnn7 nvidia/melodic/cuda10.1/cudnn7
+	@printf "\n\033[92mDocker Image: turlucode/ros-melodic:cuda10.1-cudnn7\033[0m\n"
+
 ## BOUNCY
 
 nvidia_ros_bouncy: ## [NVIDIA] Build ROS2 Bouncy  Container

nvidia/melodic/base/Dockerfile

@@ -0,0 +1,79 @@
+FROM nvidia/opengl:1.0-glvnd-runtime-ubuntu18.04
+
+MAINTAINER Athanasios Tasoglou <[email protected]>
+LABEL Description="ROS-Melodic-Desktop (Ubuntu 18.04)" Vendor="TurluCode" Version="1.0"
+LABEL com.turlucode.ros.version="melodic"
+
+# Install packages without prompting the user to answer any questions
+ENV DEBIAN_FRONTEND noninteractive 
+
+# Install packages
+RUN apt-get update && apt-get install -y \
+locales \
+lsb-release \
+mesa-utils \
+git \
+subversion \
+nano \
+terminator \
+wget \
+curl \
+htop \
+dbus-x11 \
+software-properties-common \
+gdb valgrind && \
+apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install new paramiko (solves ssh issues)
+RUN apt-add-repository universe
+RUN apt-get update && apt-get install -y python-pip python build-essential && apt-get clean && rm -rf /var/lib/apt/lists/*
+RUN /usr/bin/yes | pip install --upgrade pip
+RUN /usr/bin/yes | pip install --upgrade virtualenv
+RUN /usr/bin/yes | pip install --upgrade paramiko
+RUN /usr/bin/yes | pip install --ignore-installed --upgrade numpy protobuf
+
+# Locale
+RUN locale-gen en_US.UTF-8  
+ENV LANG en_US.UTF-8  
+ENV LANGUAGE en_US:en  
+ENV LC_ALL en_US.UTF-8
+
+# Install OhMyZSH
+RUN apt-get update && apt-get install -y zsh && apt-get clean && rm -rf /var/lib/apt/lists/*
+RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true
+#RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh
+RUN chsh -s /usr/bin/zsh root
+RUN git clone https://github.com/sindresorhus/pure /root/.oh-my-zsh/custom/pure
+RUN ln -s /root/.oh-my-zsh/custom/pure/pure.zsh-theme /root/.oh-my-zsh/custom/
+RUN ln -s /root/.oh-my-zsh/custom/pure/async.zsh /root/.oh-my-zsh/custom/
+RUN sed -i -e 's/robbyrussell/refined/g' /root/.zshrc
+
+# Terminator Config
+RUN mkdir -p /root/.config/terminator/
+COPY assets/terminator_config /root/.config/terminator/config 
+COPY assets/terminator_background.png /root/.config/terminator/background.png
+
+# Install ROS
+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 apt-get update && apt-get install -y --allow-downgrades --allow-remove-essential --allow-change-held-packages \
+libpcap-dev \
+gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev \
+ros-melodic-desktop-full python-rosinstall python-rosinstall-generator python-wstool build-essential \
+ros-melodic-socketcan-bridge \
+ros-melodic-geodesy && \
+apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Configure ROS
+RUN rosdep init && rosdep update 
+RUN echo "source /opt/ros/melodic/setup.bash" >> /root/.bashrc
+RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.bashrc
+RUN echo "source /opt/ros/melodic/setup.zsh" >> /root/.zshrc
+RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.zshrc
+
+# Entry script - This will also run terminator
+COPY assets/entrypoint_setup.sh /
+ENTRYPOINT ["/entrypoint_setup.sh"]
+
+# ---
+CMD ["terminator"]

nvidia/melodic/base/assets/entrypoint_setup.sh

@@ -0,0 +1,119 @@
+#! /bin/bash
+
+# Functions
+# TOOD: Check if we can use: getent passwd $USER to extract all variables
+# TODO: Check for valid inputs, cause now it will go through even with bad inputs
+check_envs () {
+    DOCKER_CUSTOM_USER_OK=true;
+    if [ -z ${DOCKER_USER_NAME+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    fi
+
+    if [ -z ${DOCKER_USER_ID+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    else
+        if ! [ -z "${DOCKER_USER_ID##[0-9]*}" ]; then 
+            echo -e "\033[1;33mWarning: User-ID should be a number. Falling back to defaults.\033[0m"
+            DOCKER_CUSTOM_USER_OK=false;
+            return;
+        fi
+    fi
+
+    if [ -z ${DOCKER_USER_GROUP_NAME+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    fi
+
+    if [ -z ${DOCKER_USER_GROUP_ID+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    else
+        if ! [ -z "${DOCKER_USER_GROUP_ID##[0-9]*}" ]; then 
+            echo -e "\033[1;33mWarning: Group-ID should be a number. Falling back to defaults.\033[0m"
+            DOCKER_CUSTOM_USER_OK=false;
+            return;
+        fi
+    fi
+}
+
+setup_env_user () {
+    USER=$1
+    USER_ID=$2
+    GROUP=$3
+    GROUP_ID=$4
+
+    ## Create user
+    useradd -m $USER
+
+    ## Copy zsh/sh configs
+    cp /root/.profile /home/$USER/
+    cp /root/.bashrc /home/$USER/
+    cp /root/.zshrc /home/$USER/
+    ## Copy terminator configs
+    mkdir -p /home/$USER/.config/terminator
+    cp /root/.config/terminator/config /home/$USER/.config/terminator/config
+    cp /root/.config/terminator/background.png /home/$USER/.config/terminator/background.png
+    cp -rf /root/.oh-my-zsh /home/$USER/
+    rm -rf /home/$USER/.oh-my-zsh/custom/pure.zsh-theme /home/$USER/.oh-my-zsh/custom/async.zsh
+    ln -s /home/$USER/.oh-my-zsh/custom/pure/pure.zsh-theme /home/$USER/.oh-my-zsh/custom/
+    ln -s /home/$USER/.oh-my-zsh/custom/pure/async.zsh /home/$USER/.oh-my-zsh/custom/
+    sed -i -e 's@ZSH=\"/root@ZSH=\"/home/$USER@g' /home/$USER/.zshrc
+    # Copy SSH keys & fix owner
+    if [ -d "/root/.ssh" ]; then
+        cp -rf /root/.ssh /home/$USER/
+        chown -R $USER:$GROUP /home/$USER/.ssh
+    fi
+
+    ## Fix owner
+    chown $USER:$GROUP /home/$USER
+    chown -R $USER:$GROUP /home/$USER/.config
+    chown $USER:$GROUP /home/$USER/.profile
+    chown $USER:$GROUP /home/$USER/.bashrc
+    chown $USER:$GROUP /home/$USER/.zshrc
+    chown -R $USER:$GROUP /home/$USER/.oh-my-zsh
+
+    ## This a trick to keep the evnironmental variables of root which is important!
+    echo "if ! [ \"$DOCKER_USER_NAME\" = \"$(id -un)\" ]; then" >> /root/.bashrc
+    echo "    cd /home/$DOCKER_USER_NAME" >> /root/.bashrc
+    echo "    su $DOCKER_USER_NAME" >> /root/.bashrc
+    echo "fi" >> /root/.bashrc
+
+    echo "if ! [ \"$DOCKER_USER_NAME\" = \"$(id -un)\" ]; then" >> /root/.zshrc
+    echo "    cd /home/$DOCKER_USER_NAME" >> /root/.zshrc
+    echo "    su $DOCKER_USER_NAME" >> /root/.zshrc
+    echo "fi" >> /root/.zshrc
+
+    ## Setup Password-file
+    PASSWDCONTENTS=$(grep -v "^${USER}:" /etc/passwd)
+    GROUPCONTENTS=$(grep -v -e "^${GROUP}:" -e "^docker:" /etc/group)
+
+    (echo "${PASSWDCONTENTS}" && echo "${USER}:x:$USER_ID:$GROUP_ID::/home/$USER:/bin/bash") > /etc/passwd
+    (echo "${GROUPCONTENTS}" && echo "${GROUP}:x:${GROUP_ID}:") > /etc/group
+    (if test -f /etc/sudoers ; then echo "${USER}  ALL=(ALL)   NOPASSWD: ALL" >> /etc/sudoers ; fi)
+}
+
+
+# ---Main---
+
+# Create new user
+## Check Inputs
+check_envs
+
+## Determine user & Setup Environment
+if [ $DOCKER_CUSTOM_USER_OK == true ]; then
+    echo "  -->DOCKER_USER Input is set to '$DOCKER_USER_NAME:$DOCKER_USER_ID:$DOCKER_USER_GROUP_NAME:$DOCKER_USER_GROUP_ID'";
+    echo -e "\033[0;32mSetting up environment for user=$DOCKER_USER_NAME\033[0m"
+    setup_env_user $DOCKER_USER_NAME $DOCKER_USER_ID $DOCKER_USER_GROUP_NAME $DOCKER_USER_GROUP_ID
+else
+    echo "  -->DOCKER_USER* variables not set. Using 'root'.";
+    echo -e "\033[0;32mSetting up environment for user=root\033[0m"
+    DOCKER_USER_NAME="root"
+fi
+
+# Change shell to zsh
+chsh -s /usr/bin/zsh $DOCKER_USER_NAME
+
+# Run CMD from Docker
+"$@"

nvidia/melodic/base/assets/terminator_config

@@ -0,0 +1,23 @@
+[global_config]
+  title_receive_bg_color = "#64d8ff"
+  enabled_plugins = TerminalShot, LaunchpadCodeURLHandler, APTURLHandler, Logger, LaunchpadBugURLHandler
+  title_transmit_bg_color = "#15b0dc"
+[keybindings]
+[profiles]
+  [[default]]
+    use_system_font = False
+    background_darkness = 0.69
+    background_type = transparent
+    background_image = /root/.config/terminator/background.png
+    scroll_background = False
+    font = Monospace 12
+    scrollback_infinite = True
+[layouts]
+  [[default]]
+    [[[child1]]]
+      type = Terminal
+      parent = window0
+    [[[window0]]]
+      type = Window
+      parent = ""
+[plugins]

nvidia/melodic/cuda10.1/Dockerfile

@@ -0,0 +1,62 @@
+FROM turlucode/ros-melodic:nvidia
+
+MAINTAINER Athanasios Tasoglou <[email protected]>
+LABEL Description="ROS-Melodic-Desktop with CUDA 10.1 support (Ubuntu 18.04)" Vendor="TurluCode" Version="1.0"
+
+# Install packages without prompting the user to answer any questions
+ENV DEBIAN_FRONTEND noninteractive 
+
+# CUDA Base-packages
+RUN apt-get update && apt-get install -y --no-install-recommends gnupg2 curl ca-certificates && \
+    curl -fsSL https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub | apt-key add - && \
+    echo "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64 /" > /etc/apt/sources.list.d/cuda.list && \
+    echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64 /" > /etc/apt/sources.list.d/nvidia-ml.list && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV CUDA_VERSION 10.1.168
+ENV CUDA_PKG_VERSION 10-1=$CUDA_VERSION-1
+LABEL com.turlucode.ros.cuda="${CUDA_VERSION}"
+
+## For libraries in the cuda-compat-* package: https://docs.nvidia.com/cuda/eula/index.html#attachment-a
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-cudart-$CUDA_PKG_VERSION \
+        cuda-compat-10-1 && \
+    ln -s cuda-10.1 /usr/local/cuda && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
+## nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES all
+# ENV NVIDIA_DRIVER_CAPABILITIES compute,utility
+ENV NVIDIA_DRIVER_CAPABILITIES all
+ENV NVIDIA_REQUIRE_CUDA "cuda>=10.1 brand=tesla,driver>=384,driver<385 brand=tesla,driver>=396,driver<397 brand=tesla,driver>=410,driver<411"
+
+
+# CUDA Runtime-packages
+ENV NCCL_VERSION 2.4.2
+LABEL com.turlucode.ros.nccl="${NCCL_VERSION}"
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-libraries-$CUDA_PKG_VERSION \
+        cuda-nvtx-$CUDA_PKG_VERSION \
+        libnccl2=$NCCL_VERSION-1+cuda10.1 && \
+    apt-mark hold libnccl2 && \
+    rm -rf /var/lib/apt/lists/*
+
+
+# CUDA Devel-packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-libraries-dev-$CUDA_PKG_VERSION \
+        cuda-nvml-dev-$CUDA_PKG_VERSION \
+        cuda-minimal-build-$CUDA_PKG_VERSION \
+        cuda-command-line-tools-$CUDA_PKG_VERSION \
+        libnccl-dev=$NCCL_VERSION-1+cuda10.1 && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs
+
+
+# Launch terminator
+CMD ["terminator"]

nvidia/melodic/cuda10.1/cudnn7/Dockerfile

@@ -0,0 +1,26 @@
+FROM turlucode/ros-melodic:cuda10.1
+
+MAINTAINER Athanasios Tasoglou <[email protected]>
+LABEL Description="ROS-Melodic-Desktop with CUDA 10.1 and cuDNN 7 support (Ubuntu 18.04)" Vendor="TurluCode" Version="1.0"
+
+# Install packages without prompting the user to answer any questions
+ENV DEBIAN_FRONTEND noninteractive 
+
+## CUDNN Runtime-packages
+ENV CUDNN_VERSION 7.6.0.64
+LABEL com.turlucode.ros.cudnn="${CUDNN_VERSION}"
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+            libcudnn7=$CUDNN_VERSION-1+cuda10.1 && \
+    apt-mark hold libcudnn7 && \
+    rm -rf /var/lib/apt/lists/*
+
+## CUDNN Devel-packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+            libcudnn7=$CUDNN_VERSION-1+cuda10.1 \
+            libcudnn7-dev=$CUDNN_VERSION-1+cuda10.1 && \
+    apt-mark hold libcudnn7 && \
+    rm -rf /var/lib/apt/lists/*
+
+# Launch terminator
+CMD ["terminator"]