Docker Container Setup
We use the dustynv/ros docker setup use on the Jetson Nano, running jetpack 4 on Ubuntu 18.04.
The link to the docker container is here.
The link to the github for other packages is here.
To install this, simply run:
docker pull dustynv/ros:humble-ros-base-l4t-r36.3.0Dockerfile
We have a slightly customized dockerfile such that we pull in our required directories:
#!/usr/bin/env bash
# pass-through commands to 'docker run' with some defaults
# https://docs.docker.com/engine/reference/commandline/run/
ROOT="$(dirname "$(readlink -f "$0")")"
# Function to clean up background processes
cleanup() {
if [[ ${#BG_PIDS[@]} -gt 0 ]]; then
echo "Terminating background processes..."
for pid in "${BG_PIDS[@]}"; do
kill "$pid" # Terminate each background process
wait "$pid" 2>/dev/null # Wait for the process to finish
done
fi
sudo modprobe -r v4l2loopback
}
# Trap signals like INT (Ctrl+C) or TERM to invoke the cleanup function
trap cleanup INT TERM
# Initialize variables (default for arguments)
csi_to_webcam_conversion=false
capture_res="1640x1232@30"
output_res="1280x720@30"
capture_width="1640"
capture_height="1232"
capture_fps="30"
output_width="1280"
output_height="720"
output_fps="30"
# Loop through arguments
for arg in "$@"; do
# Check for the --csi2webcam option
if [[ "$arg" == "--csi2webcam" ]]; then
csi_to_webcam_conversion=true
continue # Move to next argument
fi
# Check for --csi-capture-res
if [[ "$arg" =~ --csi-capture-res= ]]; then
csi_capture_res="${arg#*=}"
# Extract width, height, and fps from capture_res
if [[ $csi_capture_res =~ ([0-9]+)x([0-9]+)@([0-9]+) ]]; then
capture_width="${BASH_REMATCH[1]}"
capture_height="${BASH_REMATCH[2]}"
capture_fps="${BASH_REMATCH[3]}"
else
echo "Invalid format for --csi-capture-res. Expected format: widthxheight@fps"
exit 1
fi
continue
fi
# Check for --csi-output-res
if [[ "$arg" =~ --csi-output-res= ]]; then
csi_output_res="${arg#*=}"
# Extract width, height, and fps from output_res
if [[ $csi_output_res =~ ([0-9]+)x([0-9]+)@([0-9]+) ]]; then
output_width="${BASH_REMATCH[1]}"
output_height="${BASH_REMATCH[2]}"
output_fps="${BASH_REMATCH[3]}"
else
echo "Invalid format for --csi-output-res. Expected format: widthxheight@fps"
exit 1
fi
continue
fi
done
# check for V4L2 devices
V4L2_DEVICES=""
if [[ "$csi_to_webcam_conversion" == true ]]; then
echo "CSI to Webcam conversion enabled."
echo "CSI Capture resolution: ${capture_width}x${capture_height}@${capture_fps}"
echo "CSI Output resolution : ${output_width}x${output_height}@${output_fps}"
# Check if v4l2loopback-dkms is installed
if dpkg -l | grep -q v4l2loopback-dkms; then
echo "( v4l2loopback-dkms is installed. )"
else
echo "[Error] v4l2loopback-dkms is not installed."
echo " "
echo "Perform the following command to first install v4l2loopback moddule."
echo " "
echo " sudo apt update && sudo apt install v4l2loopback-dkms"
echo " "
exit 1
fi
# Check if v4l2-ctl is installed
if command -v v4l2-ctl &> /dev/null
then
echo "(v4l2-ctl is installed)"
else
echo "[Error] v4l2-ctl is not installed"
echo " "
echo "Perform the following command to first install v4l-utils package."
echo " "
echo " sudo apt install v4l-utils"
echo " "
exit 1
fi
# Store /dev/video index number for each CSI camera found
csi_indexes=()
# Store /dev/video* device name for each CSI camera found
csi_devices=()
# Loop through all matching /dev/video* devices
for device in /dev/video*; do
# Use v4l2-ctl to check if the device supports RG10 (CSI camera format)
if v4l2-ctl -d "$device" --list-formats-ext 2>/dev/null | grep -q "RG10"; then
echo "$device is a CSI camera (RG10 format)"
# Store the device name in array if CSI camera
csi_devices+=("$device")
# Extract the device index number and add to the csi_devices array
dev_index=$(echo "$device" | grep -o '[0-9]\+')
csi_indexes+=("$dev_index")
else
echo "$device is not a CSI camera (likely a webcam)"
V4L2_DEVICES="$V4L2_DEVICES --device $device "
fi
done
# Load the v4l2loopback module to create as many devices as CSI cameras found in the prior step
sudo modprobe v4l2loopback devices=${#csi_indexes[@]} exclusive_caps=1 card_label="Cam1,Cam2"
# Get all new /dev/video devices created by v4l2loopback
new_devices=($(v4l2-ctl --list-devices | grep -A 1 "v4l2loopback" | grep '/dev/video' | awk '{print $1}'))
echo "###### new_devices: ${new_devices[@]}"
# add the created v4l2loopback devices
if [[ -n "${new_devices[@]}" ]]; then
for converted_device in ${new_devices[@]}; do
V4L2_DEVICES="$V4L2_DEVICES --device $converted_device "
done
else
echo "No v4l2loopback devices found."
fi
# Save the current DISPLAY variable
ORIGINAL_DISPLAY=$DISPLAY
# Start background processes for each CSI camera found
i=0
for csi_index in "${csi_indexes[@]}"; do
echo "Starting background process for CSI camera device number: $csi_index"
echo "CSI Capture resolution: ${capture_width}x${capture_height}@${capture_fps}"
echo "CSI Output resolution : ${output_width}x${output_height}@${output_fps}"
# Unset the DISPLAY env variable because, apparently, some GStreamer components might try to use this display
# for video rendering or processing, which can conflict with other GStreamer elements or hardware device
# Temporarily unset DISPLAY for the GStreamer command
unset DISPLAY
echo "gst-launch-1.0 -v nvarguscamerasrc sensor-id=${csi_index} \
! 'video/x-raw(memory:NVMM), format=NV12, width=${capture_width}, height=${capture_height}, framerate=${capture_fps}/1' \
! nvvidconv \
! 'video/x-raw, width=${output_width}, height=${output_height}, framerate=${output_fps}/1', format=I420 \
! nvjpegenc \
! multipartmux \
! multipartdemux single-stream=1 \
! \"image/jpeg, width=${output_width}, height=${output_height}, parsed=(boolean)true, colorimetry=(string)2:4:7:1, framerate=(fraction)${output_fps}/1, sof-marker=(int)0\" \
! v4l2sink device=${new_devices[$i]} > /dev/null 2>&1 &"
gst-launch-1.0 -v nvarguscamerasrc sensor-id=${csi_index} \
! "video/x-raw(memory:NVMM), format=NV12, width=${capture_width}, height=${capture_height}, framerate=${capture_fps}/1" \
! nvvidconv \
! "video/x-raw, width=${output_width}, height=${output_height}, framerate=${output_fps}/1", format=I420 \
! nvjpegenc \
! multipartmux \
! multipartdemux single-stream=1 \
! "image/jpeg, width=${output_width}, height=${output_height}, parsed=(boolean)true, colorimetry=(string)2:4:7:1, framerate=(fraction)${output_fps}/1, sof-marker=(int)0" \
! v4l2sink device=${new_devices[$i]} > /dev/null 2>&1 &
# Store the PID of the background process if you want to manage it later
BG_PIDS+=($!)
echo "BG_PIDS: ${BG_PIDS[@]}"
((i++))
done
# Restore the DISPLAY env variable
export DISPLAY=$ORIGINAL_DISPLAY
else
# Loop through all matching /dev/video* devices
for device in /dev/video*; do
if [ -e "$device" ]; then # Check if the device file exists
V4L2_DEVICES="$V4L2_DEVICES --device $device "
fi
done
fi
echo "V4L2_DEVICES: $V4L2_DEVICES"
if [ -n "$csi_indexes" ]; then
echo "CSI_INDEXES: $csi_indexes"
fi
# check for I2C devices
I2C_DEVICES=""
for i in {0..9}
do
if [ -a "/dev/i2c-$i" ]; then
I2C_DEVICES="$I2C_DEVICES --device /dev/i2c-$i "
fi
done
# check for ttyACM devices
ACM_DEVICES=""
# Loop through all matching /dev/ttyACM* devices
for dev in /dev/ttyACM*; do
if [ -e "$dev" ]; then # Check if the device file exists
ACM_DEVICES="$ACM_DEVICES --device $dev "
fi
done
# check for display
DISPLAY_DEVICE=""
if [ -n "$DISPLAY" ]; then
echo "### DISPLAY environmental variable is already set: \"$DISPLAY\""
# give docker root user X11 permissions
xhost +si:localuser:root || sudo xhost +si:localuser:root
# enable SSH X11 forwarding inside container (https://stackoverflow.com/q/48235040)
XAUTH=/tmp/.docker.xauth
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
chmod 777 $XAUTH
DISPLAY_DEVICE="-e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix -v $XAUTH:$XAUTH -e XAUTHORITY=$XAUTH"
fi
# check for jtop
JTOP_SOCKET=""
JTOP_SOCKET_FILE="/run/jtop.sock"
if [ -S "$JTOP_SOCKET_FILE" ]; then
JTOP_SOCKET="-v /run/jtop.sock:/run/jtop.sock"
fi
# PulseAudio arguments
PULSE_AUDIO_ARGS=""
if [ -d "${XDG_RUNTIME_DIR}/pulse" ]; then
PULSE_AUDIO_ARGS="-e PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native -v ${XDG_RUNTIME_DIR}/pulse:${XDG_RUNTIME_DIR}/pulse"
fi
# extra flags
EXTRA_FLAGS=""
if [ -n "$HUGGINGFACE_TOKEN" ]; then
EXTRA_FLAGS="$EXTRA_FLAGS --env HUGGINGFACE_TOKEN=$HUGGINGFACE_TOKEN"
fi
# additional permission optional run arguments
OPTIONAL_PERMISSION_ARGS=""
if [ "$USE_OPTIONAL_PERMISSION_ARGS" = "true" ]; then
OPTIONAL_PERMISSION_ARGS="-v /lib/modules:/lib/modules --device /dev/fuse --cap-add SYS_ADMIN --security-opt apparmor=unconfined"
fi
# check if sudo is needed
if [ $(id -u) -eq 0 ] || id -nG "$USER" | grep -qw "docker"; then
SUDO=""
else
SUDO="sudo"
fi
# Initialize an empty array for filtered arguments
filtered_args=()
# Loop through all provided arguments
for arg in "$@"; do
if [[ "$arg" != "--csi2webcam" && "$arg" != --csi-capture-res=* && "$arg" != --csi-output-res=* ]]; then
filtered_args+=("$arg") # Add to the new array if not the argument to remove
fi
if [[ "$arg" = "--name" || "$arg" = --name* ]]; then
HAS_CONTAINER_NAME=1
fi
done
if [ -z "$HAS_CONTAINER_NAME" ]; then
# Generate a unique container name so we can wait for it to exit and cleanup the bg processes after
BUILD_DATE_TIME=$(date +%Y%m%d_%H%M%S)
#CONTAINER_IMAGE_NAME=$(basename "${filtered_args[0]}") # unfortunately this doesn't work in the general case, and you can't easily parse the container image from the command-line
#SANITIZED_CONTAINER_IMAGE_NAME=$(echo "$CONTAINER_IMAGE_NAME" | sed 's/[^a-zA-Z0-9_.-]/_/g')
CONTAINER_NAME="jetson_container_${BUILD_DATE_TIME}"
CONTAINER_NAME_FLAGS="--name $CONTAINER_NAME"
fi
# run the container
ARCH=$(uname -i)
if [ $ARCH = "aarch64" ]; then
# this file shows what Jetson board is running
# /proc or /sys files aren't mountable into docker
cat /proc/device-tree/model > /tmp/nv_jetson_model
# https://stackoverflow.com/a/19226038
( set -x ;
$SUDO docker run --runtime nvidia -it --rm --network host \
--shm-size=8g \
--volume /tmp/argus_socket:/tmp/argus_socket \
--volume /etc/enctune.conf:/etc/enctune.conf \
--volume /etc/nv_tegra_release:/etc/nv_tegra_release \
--volume /tmp/nv_jetson_model:/tmp/nv_jetson_model \
--volume /var/run/dbus:/var/run/dbus \
--volume /var/run/avahi-daemon/socket:/var/run/avahi-daemon/socket \
--volume /var/run/docker.sock:/var/run/docker.sock \
--volume $ROOT/data:/data \
--volume ~/cusub2.1:/cusub2.1 \
--volume ~/test/cusub2.1:/test/cusub2.1 \
--volume ~/.local/lib/python3.6/site-packages/serial:/usr/local/lib/python3.6/dist-packages/serial \
--volume ~/.local/lib/python3.6/site-packages/maestro:/usr/local/lib/python3.6/dis-packages/maestro \
--volume ~/.local/lib/python3.6/site-packages/crcmod:/usr/local/lib/python3.6/dist-packages/crcmod \
--volume /dev:/dev \
--volume /etc/udev/rules.d:/etc/udev/rules.d \
--device /dev/snd \
--device /dev/bus/usb \
--expose 8080 \
-v /etc/localtime:/etc/localtime:ro -v /etc/timezone:/etc/timezone:ro \
--device /dev/snd \
$PULSE_AUDIO_ARGS \
--device /dev/bus/usb \
$OPTIONAL_PERMISSION_ARGS $DATA_VOLUME $DISPLAY_DEVICE $V4L2_DEVICES $I2C_DEVICES $ACM_DEVICES $JTOP_SOCKET $EXTRA_FLAGS \
$CONTAINER_NAME_FLAGS \
"${filtered_args[@]}"
)
elif [ $ARCH = "x86_64" ]; then
( set -x ;
$SUDO docker run --gpus all -it --rm --network=host \
--shm-size=8g \
--ulimit memlock=-1 \
--ulimit stack=67108864 \
--env NVIDIA_DRIVER_CAPABILITIES=all \
--volume $ROOT/data:/data \
-v /etc/localtime:/etc/localtime:ro -v /etc/timezone:/etc/timezone:ro \
$OPTIONAL_ARGS $DATA_VOLUME $DISPLAY_DEVICE $V4L2_DEVICES $I2C_DEVICES $ACM_DEVICES $JTOP_SOCKET $EXTRA_FLAGS \
$CONTAINER_NAME_FLAGS \
"${filtered_args[@]}"
)
fi
if [[ "$csi_to_webcam_conversion" == true ]]; then
# Wait for the Docker container to finish (if it exits)
docker wait "$CONTAINER_NAME"
# When Docker container exits, cleanup will be called
cleanup
fi