Elevation running on Orin

elevation_mapping_cupy/docker/.ros-env

@@ -1,2 +1,2 @@
 ROS_DOMAIN_ID=1
-RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

elevation_mapping_cupy/docker/Dockerfile.Orin

@@ -15,23 +15,24 @@ ARG USERNAME=ros
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 ARG INSTALL_EMCUPY_ROSDEPS=true
-ARG INSTALL_JETSON_ML=false
+ARG INSTALL_JETSON_ML=true
 ARG SKIP_SEMANTIC_SENSOR=true
 ARG PYPI_INDEX_URL=https://pypi.org/simple
 ARG JETSON_PIP_EXTRA_INDEX_URL=https://pypi.jetson-ai-lab.dev/jp6/cu126
-ARG JETSON_CUPY_VERSION=14.0.0a1
 
 # Change this to the desired RMW implementation
 # ARG RMW_NAME=zenoh
 # ARG RMW_NAME=fastdds
-# ARG RMW_NAME=cyclonedds
-ARG RMW_NAME=fastrtps
+ARG RMW_NAME=cyclonedds
+#ARG RMW_NAME=fastrtps
 
 
 # BUILD TYPE Debug, Release, RelWithDebInfo, MinSizeRel
 ARG BUILD_TYPE=RelWithDebInfo 
 
 ENV TURTLEBOT3_MODEL=waffle_realsense_depth
+ENV CUDA_PATH=/usr/local/cuda
+ENV CUPY_NVCC_GENERATE_CODE="arch=compute_87,code=sm_87"
 
 # Environment variables
 ENV DEBIAN_FRONTEND=noninteractive \
@@ -117,6 +118,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     && apt update && apt install -y --no-install-recommends \
         ros-${ROS_DISTRO}-ros-base \
         ros-${ROS_DISTRO}-rmw-fastrtps-cpp \
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
         python3-argcomplete \
         ros-${ROS_DISTRO}-${RMW_IMPLEMENTATION_DASH} \
     && apt clean \
@@ -182,15 +184,19 @@ RUN /home/${USERNAME}/workspace/.map_env/bin/pip install --no-cache-dir --retrie
     ruamel.yaml \
     chainer
 
-# Install Jetson-specific GPU wheels from the Jetson index.
+# Install environment
 RUN if [ "${INSTALL_JETSON_ML}" = "true" ]; then \
-            PIP_INDEX_URL=${PYPI_INDEX_URL} \
-            PIP_EXTRA_INDEX_URL=${JETSON_PIP_EXTRA_INDEX_URL} \
-            /home/${USERNAME}/workspace/.map_env/bin/pip install --no-cache-dir --retries 2 --timeout 120 \
-            torch torchvision cupy-cuda12x; \
-        else \
-            echo "Skipping Jetson ML wheels (torch/torchvision/cupy-cuda12x)."; \
-        fi
+        /home/${USERNAME}/workspace/.map_env/bin/pip uninstall -y \
+            torch torchvision torchaudio cupy cupy-cuda11x cupy-cuda12x cupy-cuda13x numpy || true && \
+        # /home/${USERNAME}/workspace/.map_env/bin/pip cache purge && \
+        /home/${USERNAME}/workspace/.map_env/bin/pip install --no-cache-dir \
+            --index-url https://pypi.jetson-ai-lab.io/jp6/cu126 \
+            torch==2.8.0 torchvision==0.23.0 && \
+        /home/${USERNAME}/workspace/.map_env/bin/pip install --no-cache-dir \
+            "numpy<2" "cupy-cuda12x<14" ; \
+    else \
+        echo "Skipping Jetson ML wheels (torch/torchvision/cupy/numpy)."; \
+    fi
 
 RUN /home/${USERNAME}/workspace/.map_env/bin/pip install --no-cache-dir --retries 2 --timeout 120 \
     -r /home/${USERNAME}/workspace/src/elevation_mapping_cupy/requirements.txt

elevation_mapping_cupy/docker/docker-compose.yaml

@@ -4,14 +4,16 @@ version: "3"
 services:  
   elevation_mapping:
     image: "elevation_mapping_cupy_ros2:latest"
-    container_name: "elevation_mapping_package"
+    container_name: "elevation_mapping_package2"
     env_file: ".ros-env"
     runtime: nvidia
     environment:
-      DISPLAY: $DISPLAY
       NVIDIA_DRIVER_CAPABILITIES: all
       QT_X11_NO_MITSHM: 1
       NVIDIA_VISIBLE_DEVICES: all
+      DISPLAY: ${DISPLAY}
+      CUDA_PATH: /usr/local/cuda
+      CUPY_NVCC_GENERATE_CODE: arch=compute_87,code=sm_87
     volumes: 
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ~/.Xauthority:/root/.Xauthority
@@ -23,9 +25,12 @@ services:
     network_mode: "host"
     privileged: true
     tty: true
-    command: /bin/bash -c " source /home/ros/workspace/.map_env/bin/activate; \
-             source /home/ros/workspace/install/setup.bash; \ 
-             ros2 launch elevation_mapping_cupy elevation_mapping.launch.py"
+    command: >
+            bash -lc "
+            source /home/ros/workspace/.map_env/bin/activate &&
+            source /home/ros/workspace/install/setup.bash &&
+            ros2 launch elevation_mapping_cupy elevation_mapping.launch.py
+            "
 
   rviz: 
     image: "elevation_mapping_cupy_ros2:latest"

elevation_mapping_cupy/docker/run.sh

@@ -1,46 +1,47 @@
 #!/bin/bash
 
-# The Docker image name
+set -euo pipefail
+
 IMAGE_NAME="elevation_mapping_cupy_ros2:latest"
+CONTAINER_NAME="elevation_mapping_package"
 
-# Path to your ROS workspace on the host
-HOST_WORKSPACE=$(pwd) # Path to your ROS workspace in the container
-ROSBAGPATH=${1:-"/rosbag_path"} # Path to the rosbag directory in the container
-ROS_DOMAIN=1                    # Change ROS DOMAIN ID if needed
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ENV_FILE="${SCRIPT_DIR}/.ros-env"
+CONFIG_DIR="$(realpath "${SCRIPT_DIR}/../elevation_mapping_cupy/config")"
 
-echo $HOST_WORKSPACE
+RUN_COMMAND=(
+  docker run
+  --name "${CONTAINER_NAME}"
+  --runtime nvidia
+  --privileged
+  --network host
+  --tty
+  --interactive
+  --env-file "${ENV_FILE}"
+  --env "DISPLAY=${DISPLAY:-}"
+  --env "NVIDIA_DRIVER_CAPABILITIES=all"
+  --env "NVIDIA_VISIBLE_DEVICES=all"
+  --env "QT_X11_NO_MITSHM=1"
+  --volume /tmp/.X11-unix:/tmp/.X11-unix
+  --volume "${HOME}/.Xauthority:/root/.Xauthority"
+  --volume /dev/bus/usb:/dev/bus/usb
+  --volume "${CONFIG_DIR}:/home/ros/workspace/install/share/elevation_mapping_cupy/config"
+  --device-cgroup-rule 'c 189:* rmw'
+  --device-cgroup-rule 'c 81:* rmw'
+  "${IMAGE_NAME}"
+  # /bin/bash
+  # -c
+  # "source /home/ros/workspace/.map_env/bin/activate; source /home/ros/workspace/install/setup.bash;"
+)
 
-# Define environment variables for graphical output
-XSOCK=/tmp/.X11-unix
-XAUTH=/tmp/.docker.xauth
-if [ ! -f $XAUTH ]; then
-    touch $XAUTH
-    xauth nlist :0 | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
-    chmod a+r $XAUTH
+if docker ps -a --format '{{.Names}}' | grep -Fxq "${CONTAINER_NAME}"; then
+  echo "[run.sh] Removing existing container ${CONTAINER_NAME} to match docker compose recreate behavior."
+  docker rm -f "${CONTAINER_NAME}" >/dev/null
 fi
 
-echo "---------------------"
-RUN_COMMAND="docker run  \
-  --volume=$XSOCK:$XSOCK:rw \
-  --volume=$XAUTH:$XAUTH:rw \
-  --env=\"QT_X11_NO_MITSHM=1\" \
-  --env=\"XAUTHORITY=$XAUTH\" \
-  --env=\"DISPLAY=$DISPLAY\" \
-  --env=\"ROS_DOMAIN_ID=$ROS_DOMAIN\" \
-  --ulimit rtprio=99 \
-  --cap-add=sys_nice \
-  --privileged \
-  --net=host \
-  --name=elevation_mapping \
-  -e HOST_USERNAME=$(whoami) \
-  -v ${HOST_WORKSPACE}/elevation_mapping_cupy:/home/ros/workspace/src/elevation_mapping_cupy \
-  -v /media:/media \
-  -v ${ROSBAGPATH}:/home/ros/rosbags \
-  --runtime=nvidia \
-  --user 1000:1000 \
-  -it $IMAGE_NAME"
-
-echo -e "[run.sh]: \e[1;32mThe final run command is:\n\e[0;35m$RUN_COMMAND\e[0m."
-eval $RUN_COMMAND
-echo -e "[run.sh]: \e[1;32mDocker terminal closed.\e[0m"
+echo "[run.sh] Launching ${CONTAINER_NAME} from ${IMAGE_NAME}."
+printf '[run.sh] Command:'
+printf ' %q' "${RUN_COMMAND[@]}"
+printf '\n'
 
+"${RUN_COMMAND[@]}"

elevation_mapping_cupy/requirements.txt

@@ -8,6 +8,8 @@ scikit-image==0.19
 matplotlib
 catkin-tools
 networkx==3.0
+cupy-cuda12x
+torch
 # cupy
 
 ###### Requirements with Version Specifiers ######`