support ubuntu24 (but there is not tested)

yolox_ros_cpp/README.md

@@ -2,9 +2,9 @@
 
 ## Requirements
 - ROS2 Iron
-  - ros-iron-generate-parameter-library
-  - ros-iron-vision-msgs
-  - ros-iron-usb-cam
+  - ros-jazzy-generate-parameter-library
+  - ros-jazzy-vision-msgs
+  - ros-jazzy-usb-cam
 - OpenCV 4.x
 - OpenVINO 2024.*
 - TensorRT 10.x *
@@ -23,7 +23,7 @@
 ## Clone YOLOX-ROS
 ```bash
 cd ~/ros2_ws/src
-git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS -b iron
+git clone --recursive https://github.com/Ar-Ray-code/YOLOX-ROS -b jazzy
 ```
 
 ## Model Convert or Download
@@ -75,16 +75,15 @@ cd ~/ros2_ws
 
 ```bash
 # build with openvino
-source /opt/ros/humble/setup.bash
-source /opt/intel/openvino_2021/bin/setupvars.sh
+source /opt/ros/jazzy/setup.bash
 colcon build --symlink-install --cmake-args -DYOLOX_USE_OPENVINO=ON
 ```
 
 ### TensorRT
 
 ```bash
 # build with tensorrt
-source /opt/ros/iron/setup.bash
+source /opt/ros/jazzy/setup.bash
 colcon build --symlink-install --cmake-args -DYOLOX_USE_TENSORRT=ON
 ```
 
@@ -95,7 +94,7 @@ colcon build --symlink-install --cmake-args -DYOLOX_USE_TENSORRT=ON
 https://www.tensorflow.org/lite/guide/build_cmake
 
 Below is an example build script.
-Please change `${WORKSPACE}` as appropriate for your environment.
+Please change `${WORKSPACE}` as appropriate for your envjazzyment.
 ```bash
 export WORKSPACE=${HOME}/ws_tflite
 mkdir -p ${WORKSPACE}

yolox_ros_cpp/docker/onnxruntime/docker-compose.yaml

@@ -5,17 +5,24 @@ services:
         build:
             context: .
             args:
-                - BASE_TAB=12.1.0-cudnn8-devel-ubuntu22.04
-        image: fateshelled/onnxruntime_yolox_ros:latest
+                - BASE_TAB=12.6.1-cudnn-devel-ubuntu24.04
         network_mode: host
-        runtime: nvidia
+        deploy:
+            resources:
+                reservations:
+                    devices:
+                        - driver: nvidia
+                          count: 1
+                          capabilities: [gpu]
+
         environment:
             - DISPLAY=$DISPLAY
+            - NVIDIA_DISABLE_REQUIRE=1
         volumes:
             - $HOME/ros2_ws:/root/ros2_ws
             - /tmp/.X11-unix:/tmp/.X11-unix
-        devices:
-            - "/dev/video0:/dev/video0"
+        # devices:
+        #     - "/dev/video0:/dev/video0"
         working_dir: /root/ros2_ws
         tty: true
         command: bash

yolox_ros_cpp/docker/onnxruntime/dockerfile

@@ -1,63 +1,46 @@
-ARG BASE_TAG=11.7.1-cudnn8-devel-ubuntu22.04
-FROM nvcr.io/nvidia/cuda:${BASE_TAG}
-ENV	 DEBIAN_FRONTEND=noninteractive
+ARG BASE_TAG=12.6.1-cudnn-devel-ubuntu24.04
+FROM nvidia/cuda:${BASE_TAG}
+
+ENV TZ=Asia/Tokyo
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+ENV DEBIAN_FRONTEND=noninteractive
 
 ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
-RUN apt update && \
-    apt install -y python3-dev python3-pip \
-                   ca-certificates g++ gcc make git aria2 && \
+
+RUN apt update && apt install -y locales git cmake wget curl gnupg2 lsb-release python3-numpy python3-setuptools python3-wheel && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
     apt -y clean && \
-    rm -rf /var/lib/apt/lists/* && \
-    aria2c -q -d /tmp -o cmake-3.21.0-linux-x86_64.tar.gz https://github.com/Kitware/CMake/releases/download/v3.21.0/cmake-3.21.0-linux-x86_64.tar.gz && \
-    tar -zxf /tmp/cmake-3.21.0-linux-x86_64.tar.gz --strip=1 -C /usr
-RUN python3 -m pip install -U pip && \
-    python3 -m pip install -U numpy setuptools wheel && \
-    python3 -m pip cache purge
+    rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8
 
-WORKDIR /workdir
-RUN git clone --depth 1 --recursive https://github.com/microsoft/onnxruntime -b v1.12.1 && \
+RUN git clone --depth 1 --recursive https://github.com/microsoft/onnxruntime -b v1.19.2 && \
     cd onnxruntime && \
     ./build.sh --cudnn_home /usr/lib/x86_64-linux-gnu/ \
                --cuda_home /usr/local/cuda \
                --use_cuda \
                --config RelWithDebInfo \
                --build_shared_lib \
+               --allow_running_as_root \
                --skip_tests && \
     cd build/Linux/RelWithDebInfo && \
-    make install && \
-    rm -r /workdir/onnxruntime
-
-# Install ROS2
-RUN apt update && apt install locales && \
-    locale-gen en_US en_US.UTF-8 && \
-    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-    apt -y clean && \
-    rm -rf /var/lib/apt/lists/*
-ENV LANG=en_US.UTF-8
+    make install
 
-RUN apt update && \
-    apt install -y git wget curl gnupg2 lsb-release && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+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 $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
-    sed -i -e 's/ubuntu .* main/ubuntu jammy main/g' /etc/apt/sources.list.d/ros2.list && \
+    sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list && \
     apt update && \
     apt install -y ros-dev-tools \
-                    ros-humble-cv-bridge \
-                    ros-humble-generate-parameter-library \
-                    ros-humble-parameter-traits \
-                    ros-humble-ros-base \
-                    ros-humble-rqt-image-view \
-                    ros-humble-v4l2-camera && \
+                    ros-jazzy-cv-bridge \
+                    ros-jazzy-generate-parameter-library \
+                    ros-jazzy-parameter-traits \
+                    ros-jazzy-ros-base \
+                    ros-jazzy-rqt-image-view \
+                    ros-jazzy-usb-cam \
+                    ros-jazzy-vision-msgs && \
     apt -y clean && \
-    rm -rf /var/lib/apt/lists/* && \
-    pip install -U pip && \
-    pip install catkin_pkg && \
-    pip install empy && \
-    pip install lark && \
-    python3 -m pip cache purge
-
+    rm -rf /var/lib/apt/lists/*
 
+WORKDIR /workspace
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
 RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
-# ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]

yolox_ros_cpp/docker/onnxruntime/ros_entrypoint.sh

@@ -1,3 +1,2 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+source /opt/ros/jazzy/setup.bash

yolox_ros_cpp/docker/openvino/docker-compose.yaml

@@ -8,11 +8,10 @@ services:
         environment:
             - DISPLAY=$DISPLAY
         volumes:
-            - ../../../:/root/ros2_ws/src
+            - $HOME/ros2_ws:/root/ros2_ws
             - /tmp/.X11-unix:/tmp/.X11-unix
-        devices:
-            - "/dev/video0:/dev/video0"
+        # devices:
+        #     - "/dev/video0:/dev/video0"
         working_dir: /root/ros2_ws
         tty: true
         command: bash
-

yolox_ros_cpp/docker/openvino/dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:22.04
+FROM ubuntu:24.04
 
 ENV TZ=Asia/Tokyo
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
@@ -16,30 +16,27 @@ ENV LANG=en_US.UTF-8
 RUN apt update && \
     apt install -y git wget curl gnupg2 lsb-release
 
-# ROS
 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 $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
-    sed -i -e 's/ubuntu .* main/ubuntu jammy main/g' /etc/apt/sources.list.d/ros2.list
+    sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list
 # INTEL OPENVINO
 RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
     apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && \
-    echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-2024.list
+    echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu24 main" | tee /etc/apt/sources.list.d/intel-openvino-2024.list
 
-# install ros and openvino
 RUN apt update && \
     apt install -y openvino-2024.2.0 \
                     ros-dev-tools \
-                    ros-humble-cv-bridge \
-                    ros-humble-generate-parameter-library \
-                    ros-humble-parameter-traits \
-                    ros-humble-ros-base \
-                    ros-humble-rqt-image-view \
-                    ros-humble-v4l2-camera && \
+                    ros-jazzy-cv-bridge \
+                    ros-jazzy-generate-parameter-library \
+                    ros-jazzy-parameter-traits \
+                    ros-jazzy-ros-base \
+                    ros-jazzy-rqt-image-view \
+                    ros-jazzy-usb-cam \
+                    ros-jazzy-vision-msgs && \
     apt -y clean && \
     rm -rf /var/lib/apt/lists/*
 
 WORKDIR /workspace
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
 RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
-# RUN echo "source /opt/intel/openvino/bin/setupvars.sh " >> /root/.bashrc
-CMD ["bash"]

yolox_ros_cpp/docker/openvino/ros_entrypoint.sh

@@ -1,4 +1,2 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
-
+source /opt/ros/jazzy/setup.bash

yolox_ros_cpp/docker/tensorrt/docker-compose.yaml

@@ -5,18 +5,24 @@ services:
         build:
             context: .
             args:
-                - TENSORRT_VERSION=10.1
-                - CUDNN_VERSION=9.2
-                - PYTHON_VERSION=3.10
+                - TENSORRT_VERSION=12.6
+                - PYTHON_VERSION=3.12
         network_mode: host
-        runtime: nvidia
+        deploy:
+            resources:
+                reservations:
+                    devices:
+                        - driver: nvidia
+                          count: 1
+                          capabilities: [gpu]
         environment:
             - DISPLAY=$DISPLAY
+            - NVIDIA_DISABLE_REQUIRE=1
         volumes:
             - $HOME/ros2_ws:/root/ros2_ws
             - /tmp/.X11-unix:/tmp/.X11-unix
-        devices:
-            - "/dev/video0:/dev/video0"
+        # devices:
+        #     - "/dev/video0:/dev/video0"
         working_dir: /root/ros2_ws
         tty: true
         command: bash

yolox_ros_cpp/docker/tensorrt/dockerfile

@@ -1,8 +1,8 @@
 # pytorch/TensorRT/docker/Dockerfile
 # Base image starts with CUDA
-ARG BASE_IMG=nvidia/cuda:12.4.1-devel-ubuntu22.04
+ARG BASE_IMG=nvidia/cuda:12.6.1-devel-ubuntu24.04
 FROM ${BASE_IMG} as base
-ENV BASE_IMG=nvidia/cuda:12.4.1-devel-ubuntu22.04
+ENV BASE_IMG=nvidia/cuda:12.6.1-devel-ubuntu24.04
 
 ARG TENSORRT_VERSION
 ENV TENSORRT_VERSION=${TENSORRT_VERSION}
@@ -17,28 +17,14 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 # Install basic dependencies
 RUN apt-get update
-RUN apt install -y build-essential manpages-dev wget zlib1g software-properties-common git libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev wget ca-certificates curl llvm libncurses5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev mecab-ipadic-utf8
-
-# Install PyEnv and desired Python version
-ENV HOME="/root"
-ENV PYENV_DIR="$HOME/.pyenv"
-ENV PATH="$PYENV_DIR/shims:$PYENV_DIR/bin:$PATH"
-RUN wget -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer &&\
-    chmod 755 pyenv-installer &&\
-    bash pyenv-installer &&\
-    eval "$(pyenv init -)"
-
-RUN pyenv install -v ${PYTHON_VERSION}
-RUN pyenv global ${PYTHON_VERSION}
+RUN apt install -y build-essential manpages-dev wget zlib1g software-properties-common git libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev ca-certificates curl llvm libncurses5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev mecab-ipadic-utf8
 
 # Install TensorRT + dependencies
-RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub
-RUN add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/ /"
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/3bf863cc.pub
+RUN add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/ /"
 RUN apt-get update
 RUN TENSORRT_MAJOR_VERSION=`echo ${TENSORRT_VERSION} | cut -d '.' -f 1` && apt-get install -y tensorrt
 
-ENV DEBIAN_FRONTEND=noninteractive
-
 RUN apt update && apt install locales && \
     locale-gen en_US en_US.UTF-8 && \
     update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
@@ -47,27 +33,22 @@ RUN apt update && apt install locales && \
 ENV LANG=en_US.UTF-8
 
 RUN apt update && \
-    apt install -y git wget curl gnupg2 lsb-release && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    apt install -y git wget curl gnupg2 lsb-release
+
+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 $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
-    sed -i -e 's/ubuntu .* main/ubuntu jammy main/g' /etc/apt/sources.list.d/ros2.list && \
+    sed -i -e 's/ubuntu .* main/ubuntu noble main/g' /etc/apt/sources.list.d/ros2.list && \
     apt update && \
     apt install -y ros-dev-tools \
-                    ros-humble-cv-bridge \
-                    ros-humble-generate-parameter-library \
-                    ros-humble-parameter-traits \
-                    ros-humble-ros-base \
-                    ros-humble-rqt-image-view \
-                    ros-humble-v4l2-camera && \
+                    ros-jazzy-cv-bridge \
+                    ros-jazzy-generate-parameter-library \
+                    ros-jazzy-parameter-traits \
+                    ros-jazzy-ros-base \
+                    ros-jazzy-rqt-image-view \
+                    ros-jazzy-usb-cam \
+                    ros-jazzy-vision-msgs && \
     apt -y clean && \
-    rm -rf /var/lib/apt/lists/* && \
-    pip install -U pip && \
-    pip install catkin_pkg && \
-    pip install empy==3.3.4 && \
-    pip install lark && \
-    python3 -m pip cache purge
+    rm -rf /var/lib/apt/lists/*
 
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
 RUN echo "source /ros_entrypoint.sh" >> /root/.bashrc
-# ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]

yolox_ros_cpp/docker/tensorrt/ros_entrypoint.sh

@@ -1,3 +1,2 @@
 #!/bin/bash
-source /opt/ros/humble/setup.bash
-source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
+source /opt/ros/jazzy/setup.bash

yolox_ros_cpp/yolox_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_cpp</name>
-  <version>0.4.0</version>
+  <version>0.4.1</version>
   <description>The yolox_cpp package</description>
   <maintainer email="53618876+fateshelled@users.noreply.github.com">fateshelled</maintainer>
   <license>Apache-2.0 License</license>

yolox_ros_cpp/yolox_param/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_param</name>
-  <version>0.4.0</version>
+  <version>0.4.1</version>
   <description>YOLOX-ROS Parameter Package</description>
   <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
   <license>Apache-2.0</license>

yolox_ros_cpp/yolox_ros_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>yolox_ros_cpp</name>
-  <version>0.4.0</version>
+  <version>0.4.1</version>
   <description>The yolox_ros_cpp package</description>
   <maintainer email="53618876+fateshelled@users.noreply.github.com">fateshelled</maintainer>
   <license>Apache-2.0 License</license>