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Dockerfile

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+# Image based Ubuntu 22.04, CUDA 11.8
+# https://hub.docker.com/layers/nvidia/cuda/11.8.0-cudnn8-devel-ubuntu22.04/images/sha256-3fbac875b9fd3059d554226246c1ade676fad88aee1ac2cb2deaa6e77e4606a5?context=explore
+FROM nvidia/cuda:11.8.0-cudnn8-devel-ubuntu22.04
+
+MAINTAINER dongwookheo
+# Setting environment variables
+ENV DEBIAN_FRONTEND=noninteractive
+ARG UBUNTU_RELEASE_YEAR=22
+ARG CUDA_MAJOR=11
+ARG CUDA_MINOR=8
+ARG ZED_SDK_MAJOR=4
+ARG ZED_SDK_MINOR=0
+ARG ZED_SDK_PATCH=7
+ARG ROS_DISTRO=humble
+
+# Related build...
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install build-essential -y && \
+    apt-get install vim -y && \
+    apt-get install cmake -y && \
+    apt-get install git -y && \
+    apt-get install sudo -y && \
+    apt-get install wget -y && \
+    apt-get install ninja-build -y && \
+    apt-get install software-properties-common -y && \
+    apt-get install python3 -y && \
+    apt-get install python3-pip -y && \
+    rm -rf /var/lib/apt/lists/*
+
+# Related to JetBrains CLion Docker development...
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install -y ssh && \
+    apt-get install -y gcc && \
+    apt-get install -y g++ && \
+    apt-get install -y gdb && \
+    apt-get install -y clang && \
+    apt-get install -y cmake && \
+    apt-get install -y rsync && \
+    apt-get install -y tar && \
+    apt-get install -y mesa-utils && \
+    rm -rf /var/lib/apt/lists/*
+
+# Related to X11 remote display
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install -y libgl1-mesa-glx && \
+    apt-get install -y libglu1-mesa-dev && \
+    apt-get install -y mesa-common-dev && \
+    apt-get install -y x11-utils && \
+    apt-get install -y x11-apps && \
+    apt-get install -y zip && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install ROS 2 Humble
+RUN apt-get update && apt-get upgrade -y  && \
+    apt-get install lsb-release -y && \
+    apt-get install gnupg2 -y && \
+    apt-get install curl -y
+RUN apt-get install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt-get update && apt-get upgrade -y
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get update && apt-get upgrade -y
+RUN apt-get install ros-humble-desktop -y && \
+    apt-get install ros-dev-tools -y && \
+    rm -rf /var/lib/apt/lists/*
+
+# Initialize rosdep
+RUN rosdep init && rosdep update
+
+# Install the ZED SDK
+RUN echo "CUDA Version $CUDA_VERSION" > /usr/local/cuda/version.txt
+
+# Setup the ZED SDK
+RUN apt-get update || true && \
+  apt-get install --no-install-recommends dialog bash-completion lsb-release wget less udev sudo  build-essential cmake zstd python3 python3-pip libpng-dev libgomp1 -y && \
+  python3 -m pip install --upgrade pip; python3 -m pip install numpy opencv-python-headless && \
+  wget -q -O ZED_SDK_Linux_Ubuntu.run https://download.stereolabs.com/zedsdk/$ZED_SDK_MAJOR.$ZED_SDK_MINOR/cu$CUDA_MAJOR$CUDA_MINOR/ubuntu$UBUNTU_RELEASE_YEAR && \
+  chmod +x ZED_SDK_Linux_Ubuntu.run && \
+  ./ZED_SDK_Linux_Ubuntu.run -- silent skip_tools skip_cuda && \
+  ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+  rm ZED_SDK_Linux_Ubuntu.run && \
+  rm -rf /var/lib/apt/lists/* && \
+  apt-get autoremove && apt-get clean
+
+# Install the ZED ROS2 Wrapper
+WORKDIR /home/mint/mintcart_ws/src
+RUN git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git
+WORKDIR /home/mint/mintcart_ws
+
+RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && \
+                  apt-get update -y || true && \
+                  rosdep install --from-paths src --ignore-src -r -y && \
+                  colcon build --parallel-workers $(nproc) --symlink-install \
+                  --event-handlers console_direct+ --base-paths src \
+                  --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
+                  ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
+                  ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' "
+
+# Install package
+WORKDIR /home/mint/mintcart_ws/src
+RUN git clone -b humble https://github.com/ros-drivers/ros2_ouster_drivers.git && \
+    git clone -b ros2 https://github.com/ros-drivers/nmea_navsat_driver.git && \
+    git clone https://github.com/CLOBOT-Co-Ltd/myahrs_ros2_driver.git
+
+# Fix myahrs_ros2_driver.cpp
+WORKDIR /home/mint/mintcart_ws/src/myahrs_ros2_driver/myahrs_ros2_driver/src
+#RUN sed -i 's/declare_parameter("linear_acceleration_stddev")/declare_parameter("linear_acceleration_stddev", 0.0)/g' ./myahrs_ros2_driver.cpp && \
+#    sed -i 's/declare_parameter("angular_velocity_stddev")/declare_parameter("angular_velocity_stddev", 0.0)/g' ./myahrs_ros2_driver.cpp && \
+#    sed -i 's/declare_parameter("magnetic_field_stddev")/declare_parameter("magnetic_field_stddev", 0.0)/g' ./myahrs_ros2_driver.cpp && \
+#    sed -i 's/declare_parameter("orientation_stddev")/declare_parameter("orientation_stddev", 0.0)/g' ./myahrs_ros2_driver.cpp
+RUN sed -i 's/this->declare_parameter(\("[a-z_]*"\))/this->declare_parameter(\1, 0.0)/g' ./myahrs_ros2_driver.cpp
+
+# Set working dir
+WORKDIR /home/mint/mintcart_ws
+
+# Environment settings with aliasing
+RUN echo "\
+# MINT-Lab settings\n\
+alias uu=\"sudo apt update && sudo apt upgrade -y\"\n\
+alias humble=\"source /opt/ros/humble/setup.bash; echo \\\"ROS 2 Humble is activated!\\\"\"\n\
+alias sb=\"source /root/.bashrc; echo \\\"bashrc is reloaded!\\\"; humble; ros_domain; mintcart\"\n\
+alias ros_domain=\"export ROS_DOMAIN_ID=220; echo \\\"ROS DOMAIN ID is set to \${ROS_DOMAIN_ID}!\\\"\"\n\
+alias mintcart=\"source /home/mint/mintcart_ws/install/setup.bash; echo \\\"mintcart_ws is activated!\\\"\"\n\
+\n\
+# CUDA\n\
+export PATH=\"/usr/local/cuda-11.8/bin:\$PATH\"\n\
+export LD_LIBRARY_PATH=\"/usr/local/cuda-11.8/lib64:\$LD_LIBRARY_PATH\"\n" >> /root/.bashrc
+
+# Install ROS Packages Dependencies
+WORKDIR /home/mint/mintcart_ws
+RUN apt-get update && apt-get upgrade -y && \
+    /bin/bash -c "source /root/.bashrc && \
+                  source /home/mint/mintcart_ws/install/setup.bash && \
+                  rosdep update && \
+                  rosdep install --from-path src --ignore-src -r -y && \
+                  colcon build --symlink-install"
+
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install ros-$ROS_DISTRO-rviz-imu-plugin && \
+    rm -rf /var/lib/apt/lists/* && \
+    apt-get clean