This repository provides a Docker base image for scenarios in the Agri-OpenCore (AOC) project. The base image installs all non-ROS2 open source dependencies required to build AOC software.
It's based on the L-CAS ROS Cuda Desktop Images: https://github.com/LCAS/ros-docker-images
- Built on top of
lcas.lincoln.ac.uk/lcas/ros-docker-images(currentlyjammy-cuda12.2-humble-2.1.0tag) - Uses Ubuntu 22.04 (Jammy) with CUDA support
- ROS2 Humble distribution
- ROS2 Humble desktop installation
- Navigation2 and Gazebo simulation packages
- MongoDB 7.0 with Compass GUI
- ZED SDK 4.0 with CUDA support
- Code-server (VS Code in browser) setup
- MQTT support via paho-mqtt
- Various ROS2 packages for:
- Navigation
- Simulation
- Image processing
- Robot localization
- Mapping
The following packages are installed from source:
| Package | Version | Repository | Description/Features |
|---|---|---|---|
| g2o | Debian/Humble branch | libg2o-release | General Graph Optimization framework |
| IPOPT Solver | 3.13 (stable) | Ipopt | |
| control_box_rst | v0.0.0 | control_box_rst | |
| DecompROS | humble_dev branch | DecompROS | |
| kindr | v0.0.0 | kindr | |
| GTSAM | commit 6c97e4b | gtsam | |
| OpenVDB | v10.0.1 | openvdb | |
| OctoMap | v1.9.6 | octomap | |
| Casadi | main branch | casadi | Built with Python, IPOPT, OpenMP, and Thread support |
| Livox SDK2 | v0.0.0 | Livox-SDK2 |
- Automated Docker image builds via GitHub Actions
- Builds triggered on:
- Push to main branch
- Pull requests
- Version tags
- Manual dispatch
- Images pushed to LCAS private registry
The image can be build locally via Docker Compose or bake:
docker compose build
or
docker buildx bake