From 3861e38282b4c7a61a4f93086609bd13b2272260 Mon Sep 17 00:00:00 2001
From: PioneerSam <pioneerqxy@gmail.com>
Date: Mon, 28 Oct 2024 21:30:25 -0400
Subject: [PATCH] Dockerfile cleanup

---
 Dockerfile      |  14 +---
 Dockerfile_89   | 191 -----------------------------------------------
 Dockerfile_main | 193 ------------------------------------------------
 3 files changed, 1 insertion(+), 397 deletions(-)
 delete mode 100644 Dockerfile_89
 delete mode 100644 Dockerfile_main

diff --git a/Dockerfile b/Dockerfile
index a8e4320a..65136265 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM nvidia/cuda:11.8.0-cudnn8-devel-ubuntu22.04
+FROM nvidia/cuda:11.8.0-devel-ubuntu22.04
 
 CMD ["/bin/bash"]
 
@@ -118,18 +118,6 @@ RUN pip3 install \
 RUN apt install wget
 RUN apt install nano
 
-# added by sam
-RUN apt update
-# install dependencies
-RUN apt install software-properties-common apt-transport-https wget -y
-# Import the GPG key provided by Microsoft to verify the package integrity. 
-RUN wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | apt-key add 
-# Run the following command to add the Visual Studio Code repository to your system
-RUN add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
-# install vscode
-RUN apt install code
-
-
 ## sam install opencv 4.10.0
 RUN apt install -q -y libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3-dev python3-numpy
 
diff --git a/Dockerfile_89 b/Dockerfile_89
deleted file mode 100644
index 3f3f693a..00000000
--- a/Dockerfile_89
+++ /dev/null
@@ -1,191 +0,0 @@
-FROM nvidia/cuda:11.8.0-cudnn8-devel-ubuntu22.04
-
-CMD ["/bin/bash"]
-
-# Args for setting up non-root users, example command to use your own user:
-# docker build -t <name: vtr3> \
-#   --build-arg USERID=$(id -u) \
-#   --build-arg GROUPID=$(id -g) \
-#   --build-arg USERNAME=$(whoami) \
-#   --build-arg HOMEDIR=${HOME} \
-#   --build-arg CUDA_ARCH=${nvidia-smi --query-gpu=compute_cap --format=csv,noheader} .
-ARG GROUPID=0
-ARG USERID=0
-ARG USERNAME=root
-ARG HOMEDIR=/root
-ARG CUDA_ARCH="8.9"
-
-RUN if [ ${GROUPID} -ne 0 ]; then addgroup --gid ${GROUPID} ${USERNAME}; fi \
-  && if [ ${USERID} -ne 0 ]; then adduser --disabled-password --gecos '' --uid ${USERID} --gid ${GROUPID} ${USERNAME}; fi
-
-# Default number of threads for make build
-ARG NUMPROC=12
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-## Switch to specified user to create directories
-USER ${USERID}:${GROUPID}
-
-ENV VTRROOT=${HOMEDIR}/ASRL/vtr3
-ENV VTRSRC=${VTRROOT}/src \
-  VTRDATA=${VTRROOT}/data \
-  VTRTEMP=${VTRROOT}/temp \
-  VTRMODELS=${VTRROOT}/models \
-  GRIZZLY=${VTRROOT}/grizzly \
-  WARTHOG=${VTRROOT}/warthog \
-  VTRUI=${VTRSRC}/main/src/vtr_gui/vtr_gui/vtr-gui
-
-RUN echo "alias build_ui='npm --prefix ${VTRUI} install ${VTRUI}; npm --prefix ${VTRUI} run build'" >> ~/.bashrc
-RUN echo "alias build_vtr='source /opt/ros/humble/setup.bash; cd ${VTRSRC}/main; colcon build --symlink-install'" >> ~/.bashrc
-
-## Switch to root to install dependencies
-USER 0:0
-
-## Dependencies
-RUN apt update && apt upgrade -q -y
-RUN apt update && apt install -q -y cmake git build-essential lsb-release curl gnupg2
-RUN apt update && apt install -q -y libboost-all-dev libomp-dev
-RUN apt update && apt install -q -y libx11-dev libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev
-RUN apt update && apt install -q -y freeglut3-dev
-RUN apt update && apt install -q -y python3 python3-distutils python3-pip
-RUN apt update && apt install -q -y libeigen3-dev
-RUN apt update && apt install -q -y libsqlite3-dev sqlite3
-RUN apt install -q -y libc6-dbg gdb valgrind
-
-## Dependency for navtech radar
-RUN apt update && apt install -q -y apt libbotan-2-dev
-
-## Install PROJ (8.2.0) (this is for graph_map_server in vtr_navigation)
-RUN apt update && apt install -q -y cmake libsqlite3-dev sqlite3 libtiff-dev libcurl4-openssl-dev
-RUN mkdir -p ${HOMEDIR}/proj && cd ${HOMEDIR}/proj \
-  && git clone https://github.com/OSGeo/PROJ.git . && git checkout 8.2.0 \
-  && mkdir -p ${HOMEDIR}/proj/build && cd ${HOMEDIR}/proj/build \
-  && cmake .. && cmake --build . -j${NUMPROC} --target install
-ENV LD_LIBRARY_PATH=/usr/local/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
-
-
-
-## Install ROS2
-# UTF-8
-RUN apt install -q -y locales \
-  && locale-gen en_US en_US.UTF-8 \
-  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-# Add ROS2 key and install from Debian packages
-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 \
-  && apt update && apt install -q -y ros-humble-desktop
-
-## Install VTR specific ROS2 dependencies
-RUN apt update && apt install -q -y \
-  ros-humble-xacro \
-  ros-humble-vision-opencv \
-  ros-humble-perception-pcl ros-humble-pcl-ros \
-  ros-humble-rmw-cyclonedds-cpp
-
-RUN apt install ros-humble-tf2-tools
-
-## Install misc dependencies
-RUN apt update && apt install -q -y \
-  tmux \
-  nodejs npm protobuf-compiler \
-  libboost-all-dev libomp-dev \
-  libpcl-dev \
-  libcanberra-gtk-module libcanberra-gtk3-module \
-  libbluetooth-dev libcwiid-dev \
-  python3-colcon-common-extensions \
-  virtualenv \
-  texlive-latex-extra \
-  clang-format
-
-## Install python dependencies
-RUN pip3 install \
-  tmuxp \
-  pyyaml \
-  pyproj \
-  scipy \
-  zmq \
-  flask \
-  flask_socketio \
-  eventlet \
-  python-socketio \
-  python-socketio[client] \
-  websocket-client
-
-
-#added by sherry
-
-RUN apt install wget
-RUN apt install nano
-
-## sam install opencv 4.10.0
-RUN apt install -q -y libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3-dev python3-numpy
-
-
-RUN mkdir -p ${HOMEDIR}/opencv && cd ${HOMEDIR}/opencv \
-&& git clone https://github.com/opencv/opencv.git . 
-
-RUN cd ${HOMEDIR}/opencv && git checkout 4.10.0
-RUN mkdir -p ${HOMEDIR}/opencv_contrib && cd ${HOMEDIR}/opencv_contrib \
-&& git clone https://github.com/opencv/opencv_contrib.git . 
-RUN cd ${HOMEDIR}/opencv_contrib && git checkout 4.10.0 
-
-
-RUN apt install -q -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3-dev python3-numpy
-# # generate Makefiles (note that install prefix is customized to: /usr/local/opencv_cuda)
-
-RUN mkdir -p ${HOMEDIR}/opencv/build && cd ${HOMEDIR}/opencv/build \
-&& cmake -D CMAKE_BUILD_TYPE=RELEASE \
--D CMAKE_INSTALL_PREFIX=/usr/local/opencv_cuda \
--D OPENCV_EXTRA_MODULES_PATH=${HOMEDIR}/opencv_contrib/modules \
--D PYTHON_DEFAULT_EXECUTABLE=/usr/bin/python3.10 \
--DBUILD_opencv_python2=OFF \
--DBUILD_opencv_python3=ON \
--DWITH_OPENMP=ON \
--DWITH_CUDA=ON \
--D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.8 \
--DOPENCV_ENABLE_NONFREE=ON \
--D OPENCV_GENERATE_PKGCONFIG=ON \
--DWITH_TBB=ON \
--DWITH_GTK=ON \
--DWITH_OPENMP=ON \
--DWITH_FFMPEG=ON \
--DBUILD_opencv_cudacodec=OFF \
--D BUILD_EXAMPLES=OFF \
--D CUDA_ARCH_BIN=$CUDA_ARCH ..  && make -j16 && make install
-
-
-ENV LD_LIBRARY_PATH=/usr/local/opencv_cuda/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
-
-RUN mkdir -p ${HOMEDIR}/.matplotcpp && cd ${HOMEDIR}/.matplotcpp \
-  && git clone https://github.com/lava/matplotlib-cpp.git . \
-  && mkdir -p ${HOMEDIR}/.matplotcpp/build && cd ${HOMEDIR}/.matplotcpp/build \
-  && cmake .. && cmake --build . -j${NUMPROC} --target install
-  
-  
-##Install LibTorch
-RUN curl https://download.pytorch.org/libtorch/cu117/libtorch-cxx11-abi-shared-with-deps-2.0.0%2Bcu117.zip --output libtorch.zip
-RUN unzip libtorch.zip -d /opt/torch
-RUN rm libtorch.zip
-ENV TORCH_LIB=/opt/torch/libtorch
-ENV LD_LIBRARY_PATH=$TORCH_LIB/lib:${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
-ENV CMAKE_PREFIX_PATH=$TORCH_LIB:$CMAKE_PREFIX_PATH
-  
-RUN apt install swig liblapack-dev libmetis-dev -y -q --install-recommends
-RUN mkdir -p ${HOMEDIR}/.casadi && cd ${HOMEDIR}/.casadi \
-  && git clone https://github.com/utiasASRL/casadi.git .
-RUN cd ${HOMEDIR}/.casadi \
-  && mkdir -p build && cd build \
-  && cmake build -DWITH_PYTHON=ON -DWITH_PYTHON3=ON -DWITH_IPOPT=ON -DWITH_BUILD_IPOPT=ON -DWITH_BUILD_REQUIRED=ON -DWITH_SELFCONTAINED=ON .. \
-  && make -j${NUMPROC} install
-ENV PYTHONPATH=${PYTHONPATH}:/usr/local
-ENV LD_LIBRARY_PATH=/usr/local/casadi:${LD_LIBRARY_PATH}
-
-
-ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,graphics
-
-RUN apt install -q -y vim htop
-
-
-## Switch to specified user
-USER ${USERID}:${GROUPID}
diff --git a/Dockerfile_main b/Dockerfile_main
deleted file mode 100644
index 16fb97e3..00000000
--- a/Dockerfile_main
+++ /dev/null
@@ -1,193 +0,0 @@
-FROM nvidia/cuda:11.7.1-cudnn8-devel-ubuntu22.04
-
-CMD ["/bin/bash"]
-
-# Args for setting up non-root users, example command to use your own user:
-# docker build -t <name: vtr3> \
-#   --build-arg USERID=$(id -u) \
-#   --build-arg GROUPID=$(id -g) \
-#   --build-arg USERNAME=$(whoami) \
-#   --build-arg HOMEDIR=${HOME} \
-#   --build-arg CUDA_ARCH=${nvidia-smi --query-gpu=compute_cap --format=csv,noheader} .
-ARG GROUPID=0
-ARG USERID=0
-ARG USERNAME=root
-ARG HOMEDIR=/root
-ARG CUDA_ARCH="8.6"
-
-RUN if [ ${GROUPID} -ne 0 ]; then addgroup --gid ${GROUPID} ${USERNAME}; fi \
-  && if [ ${USERID} -ne 0 ]; then adduser --disabled-password --gecos '' --uid ${USERID} --gid ${GROUPID} ${USERNAME}; fi
-
-# Default number of threads for make build
-ARG NUMPROC=12
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-## Switch to specified user to create directories
-USER ${USERID}:${GROUPID}
-
-ENV VTRROOT=${HOMEDIR}/ASRL/vtr3
-ENV VTRSRC=${VTRROOT}/src \
-  VTRDATA=${VTRROOT}/data \
-  VTRTEMP=${VTRROOT}/temp \
-  VTRMODELS=${VTRROOT}/models \
-  GRIZZLY=${VTRROOT}/grizzly \
-  WARTHOG=${VTRROOT}/warthog \
-  VTRUI=${VTRSRC}/main/src/vtr_gui/vtr_gui/vtr-gui
-
-RUN echo "alias build_ui='npm --prefix ${VTRUI} install ${VTRUI}; npm --prefix ${VTRUI} run build'" >> ~/.bashrc
-RUN echo "alias build_vtr='source /opt/ros/humble/setup.bash; cd ${VTRSRC}/main; colcon build --symlink-install'" >> ~/.bashrc
-
-## Switch to root to install dependencies
-USER 0:0
-
-## Dependencies
-RUN apt update && apt upgrade -q -y
-RUN apt update && apt install -q -y cmake git build-essential lsb-release curl gnupg2
-RUN apt update && apt install -q -y libboost-all-dev libomp-dev
-RUN apt update && apt install -q -y libx11-dev libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev
-RUN apt update && apt install -q -y freeglut3-dev
-RUN apt update && apt install -q -y python3 python3-distutils python3-pip
-RUN apt update && apt install -q -y libeigen3-dev
-RUN apt update && apt install -q -y libsqlite3-dev sqlite3
-RUN apt install -q -y libc6-dbg gdb valgrind
-
-## Dependency for navtech radar
-RUN apt update && apt install -q -y apt libbotan-2-dev
-
-## Install PROJ (8.2.0) (this is for graph_map_server in vtr_navigation)
-RUN apt update && apt install -q -y cmake libsqlite3-dev sqlite3 libtiff-dev libcurl4-openssl-dev
-RUN mkdir -p ${HOMEDIR}/proj && cd ${HOMEDIR}/proj \
-  && git clone https://github.com/OSGeo/PROJ.git . && git checkout 8.2.0 \
-  && mkdir -p ${HOMEDIR}/proj/build && cd ${HOMEDIR}/proj/build \
-  && cmake .. && cmake --build . -j${NUMPROC} --target install
-ENV LD_LIBRARY_PATH=/usr/local/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
-
-
-
-## Install ROS2
-# UTF-8
-RUN apt install -q -y locales \
-  && locale-gen en_US en_US.UTF-8 \
-  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-# Add ROS2 key and install from Debian packages
-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 \
-  && apt update && apt install -q -y ros-humble-desktop
-
-## Install VTR specific ROS2 dependencies
-RUN apt update && apt install -q -y \
-  ros-humble-xacro \
-  ros-humble-vision-opencv \
-  ros-humble-perception-pcl ros-humble-pcl-ros \
-  ros-humble-rmw-cyclonedds-cpp
-
-RUN apt install ros-humble-tf2-tools
-
-## Install misc dependencies
-RUN apt update && apt install -q -y \
-  tmux \
-  nodejs npm protobuf-compiler \
-  libboost-all-dev libomp-dev \
-  libpcl-dev \
-  libcanberra-gtk-module libcanberra-gtk3-module \
-  libbluetooth-dev libcwiid-dev \
-  python3-colcon-common-extensions \
-  virtualenv \
-  texlive-latex-extra \
-  clang-format
-
-## Install python dependencies
-RUN pip3 install \
-  tmuxp \
-  pyyaml \
-  pyproj \
-  scipy \
-  zmq \
-  flask \
-  flask_socketio \
-  eventlet \
-  python-socketio \
-  python-socketio[client] \
-  websocket-client
-
-
-#added by sherry
-
-RUN apt install wget
-RUN apt install nano
-
-
-## install opencv 4.5.1
-
-RUN apt install -q -y libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3-dev python3-numpy
-
-
-RUN mkdir -p ${HOMEDIR}/opencv && cd ${HOMEDIR}/opencv \
-&& git clone https://github.com/opencv/opencv.git . 
-
-RUN cd ${HOMEDIR}/opencv && git checkout 4.6.0
-RUN mkdir -p ${HOMEDIR}/opencv_contrib && cd ${HOMEDIR}/opencv_contrib \
-&& git clone https://github.com/opencv/opencv_contrib.git . 
-RUN cd ${HOMEDIR}/opencv_contrib && git checkout 4.6.0 
-
-
-RUN apt install -q -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev python3-dev python3-numpy
-# # generate Makefiles (note that install prefix is customized to: /usr/local/opencv_cuda)
-
-RUN mkdir -p ${HOMEDIR}/opencv/build && cd ${HOMEDIR}/opencv/build \
-&& cmake -D CMAKE_BUILD_TYPE=RELEASE \
--D CMAKE_INSTALL_PREFIX=/usr/local/opencv_cuda \
--D OPENCV_EXTRA_MODULES_PATH=${HOMEDIR}/opencv_contrib/modules \
--D PYTHON_DEFAULT_EXECUTABLE=/usr/bin/python3.10 \
--DBUILD_opencv_python2=OFF \
--DBUILD_opencv_python3=ON \
--DWITH_OPENMP=ON \
--DWITH_CUDA=ON \
--D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-11.7 \
--DOPENCV_ENABLE_NONFREE=ON \
--D OPENCV_GENERATE_PKGCONFIG=ON \
--DWITH_TBB=ON \
--DWITH_GTK=ON \
--DWITH_OPENMP=ON \
--DWITH_FFMPEG=ON \
--DBUILD_opencv_cudacodec=OFF \
--D BUILD_EXAMPLES=OFF \
--D CUDA_ARCH_BIN=$CUDA_ARCH ..  && make -j16 && make install
-
-
-ENV LD_LIBRARY_PATH=/usr/local/opencv_cuda/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
-
-RUN mkdir -p ${HOMEDIR}/.matplotcpp && cd ${HOMEDIR}/.matplotcpp \
-  && git clone https://github.com/lava/matplotlib-cpp.git . \
-  && mkdir -p ${HOMEDIR}/.matplotcpp/build && cd ${HOMEDIR}/.matplotcpp/build \
-  && cmake .. && cmake --build . -j${NUMPROC} --target install
-  
-  
-##Install LibTorch
-RUN curl https://download.pytorch.org/libtorch/cu117/libtorch-cxx11-abi-shared-with-deps-2.0.0%2Bcu117.zip --output libtorch.zip
-RUN unzip libtorch.zip -d /opt/torch
-RUN rm libtorch.zip
-ENV TORCH_LIB=/opt/torch/libtorch
-ENV LD_LIBRARY_PATH=$TORCH_LIB/lib:${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
-ENV CMAKE_PREFIX_PATH=$TORCH_LIB:$CMAKE_PREFIX_PATH
-  
-RUN apt install swig liblapack-dev libmetis-dev -y -q --install-recommends
-RUN mkdir -p ${HOMEDIR}/.casadi && cd ${HOMEDIR}/.casadi \
-  && git clone https://github.com/utiasASRL/casadi.git .
-RUN cd ${HOMEDIR}/.casadi \
-  && mkdir -p build && cd build \
-  && cmake build -DWITH_PYTHON=ON -DWITH_PYTHON3=ON -DWITH_IPOPT=ON -DWITH_BUILD_IPOPT=ON -DWITH_BUILD_REQUIRED=ON -DWITH_SELFCONTAINED=ON .. \
-  && make -j${NUMPROC} install
-ENV PYTHONPATH=${PYTHONPATH}:/usr/local
-ENV LD_LIBRARY_PATH=/usr/local/casadi:${LD_LIBRARY_PATH}
-
-
-ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,graphics
-
-RUN apt install -q -y vim htop
-
-
-## Switch to specified user
-USER ${USERID}:${GROUPID}
\ No newline at end of file