docker configure

README.md

@@ -28,8 +28,14 @@
 <!-- This is the pytorch implementation of our paper IMOST at ICRA 2025. -->
 
 ![structure.png](./assets/structure.png)
-## Environment Setup
-Todo
+
+Based on the [wild_visual_navigation](https://github.com/leggedrobotics/wild_visual_navigation.git), we have expanded the online continual learning task for traversability. And we have deployed the algorithm on Unitree Go2 quadruped robot which is equipped with a [LIVOX MID-360](https://www.livoxtech.com/cn/mid-360) LiDAR and a [depth camera D435i](https://www.intelrealsense.com/depth-camera-d435i/). We use [FastLIO](https://github.com/hku-mars/FAST_LIO) to provide localization information. All the code is deployed in Docker on the Jetson AGX Orin platform.
+
+## Docker Environment Setup
+
+The Docker development environment supports ARM and AMD platforms separately. The ARM Docker image is built on [jetpack_r35.2.1](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-ml/tags), while the AMD Docker image is built on [pytorch/pytorch:2.1.0-cuda12.1-cudnn8-runtime](https://hub.docker.com/r/pytorch/pytorch).
+The detailed information is showed in [dockerfile](./docker/README.md)
+
 ### Only for Test
 Todo
 <!-- We tested our code on Windows with `Python 3.8.15`, `Pytorch 1.10.2` with `cuda11.1`, other dependencies are specified in `requirements.txt`.

docker/AMD/IMOST/.zshrc

@@ -0,0 +1,11 @@
+export ZSH="$HOME/.oh-my-zsh"
+
+ZSH_THEME="robbyrussell"
+
+plugins=(git zsh-autosuggestions zsh-syntax-highlighting autojump)
+
+source $ZSH/oh-my-zsh.sh
+
+[[ -s ~/.autojump/etc/profile.d/autojump.sh ]] && source ~/.autojump/etc/profile.d/autojump.sh
+
+autoload -U compinit && compinit -u

docker/AMD/IMOST/.zshrc copy

@@ -0,0 +1,11 @@
+export ZSH="$HOME/.oh-my-zsh"
+
+ZSH_THEME="robbyrussell"
+
+plugins=(git zsh-autosuggestions zsh-syntax-highlighting autojump)
+
+source $ZSH/oh-my-zsh.sh
+
+[[ -s ~/.autojump/etc/profile.d/autojump.sh ]] && source ~/.autojump/etc/profile.d/autojump.sh
+
+autoload -U compinit && compinit -u

docker/AMD/IMOST/Dockerfile

@@ -0,0 +1,35 @@
+FROM markhui/docker-wvn_nvidia:wvn_ros2
+
+# my proxy
+ENV http_proxy=http://127.0.0.1:7890
+ENV https_proxy=http://127.0.0.1:7890
+
+
+# unitree go2 support
+RUN apt update && apt install -y git cmake ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl ros-foxy-ros1-bridge
+RUN pip install lark
+
+RUN cd ~ && git clone https://github.com/unitreerobotics/unitree_ros2
+
+RUN cd ~/unitree_ros2/cyclonedds_ws/src && \
+    git clone https://github.com/ros2/rmw_cyclonedds -b foxy && \
+    git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
+
+RUN /bin/bash -c "cd ~/unitree_ros2/cyclonedds_ws; colcon build --packages-select cyclonedds"
+
+RUN /bin/bash -c "cd ~/unitree_ros2/cyclonedds_ws; source /opt/ros/foxy/setup.bash; colcon build"
+
+# livox sdk
+RUN mkdir -p /dep && cd /dep && \
+    git clone https://github.com/Livox-SDK/Livox-SDK.git && \
+    cd Livox-SDK && \
+    cd build && cmake .. && \
+    make -j16 && make install && \
+    cd ../.. && \
+    git clone https://github.com/Livox-SDK/Livox-SDK2.git && \
+    cd Livox-SDK2 && \
+    mkdir build && cd build && cmake .. && \
+    make -j16 && make install && \
+    cd / && rm -rf /deps
+
+ENTRYPOINT ["./ros_entrypoint.sh"]

docker/AMD/IMOST/first_run.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+echo "pip3 install -e /root/catkin_ws/src/self_supervised_segmentation ..."
+pip3 install -e /root/catkin_ws/src/self_supervised_segmentation > /dev/null
+
+echo "pip3 install -e /root/catkin_ws/src/wild_visual_navigation ..."
+pip3 install -e /root/catkin_ws/src/wild_visual_navigation > /dev/null
+
+echo "downloading STEGO pretrained weights to self_supervised_segmentation/models/"
+./src/self_supervised_segmentation/models/download_pretrained.sh
+
+echo "catkin build ..."
+catkin build > /dev/null
+
+echo "source devel/setup.bash ..."
+source devel/setup.bash > /dev/null
+
+echo "Setup ready!"

docker/AMD/wvn-base/.zshrc

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+export ZSH="$HOME/.oh-my-zsh"
+
+ZSH_THEME="robbyrussell"
+
+plugins=(git zsh-autosuggestions zsh-syntax-highlighting autojump)
+
+source $ZSH/oh-my-zsh.sh
+
+[[ -s ~/.autojump/etc/profile.d/autojump.sh ]] && source ~/.autojump/etc/profile.d/autojump.sh
+
+autoload -U compinit && compinit -u

docker/AMD/wvn-base/Dockerfile

@@ -0,0 +1,130 @@
+#####################
+# Base image #
+#####################
+FROM pytorch/pytorch:2.1.0-cuda12.1-cudnn8-runtime as base
+
+# Labels
+LABEL maintainer="Matias Mattamala;Jonas Frey"
+LABEL contact="[email protected];[email protected]"
+LABEL description="WVN Docker"
+
+ARG ROS_VERSION="noetic"
+
+# ==
+# Disable dialog frontend
+# ==
+ARG DEBIAN_FRONTEND=noninteractive
+
+# ==
+# Select shell
+# ==
+SHELL ["/bin/bash", "-c"]
+
+# ==
+# Install ROS; It can be replaced with fishros.
+# ==
+RUN apt update \
+    && apt install --no-install-recommends -y curl gnupg lsb-release git build-essential nano 
+
+# Maybe some problems will arise here.
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
+    && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
+    && apt update \
+    && apt install --no-install-recommends -y ros-${ROS_VERSION}-desktop-full \
+    && apt install --no-install-recommends -y \
+    python3-pip \
+    python3-venv \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    python3-catkin-tools \
+    python3-osrf-pycommon \
+    && rm -f "/etc/ros/rosdep/sources.list.d/20-default.list" \
+    && rosdep init \
+    && rosdep update \
+    && echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+# ==
+# Install python packages
+# ==
+RUN pip3 install --no-cache-dir \
+    black \
+    flake8 \
+    jupyter \
+    wget \
+    numpy \
+    tqdm \
+    kornia \
+    torchmetrics \
+    pytorch_lightning \
+    pytest \
+    scipy \
+    scikit-image \
+    scikit-learn \
+    matplotlib \
+    seaborn \
+    pandas \
+    pytictac \
+    torch_geometric \
+    omegaconf \
+    optuna \
+    neptune \
+    fast-slic \
+    hydra-core \
+    prettytable \
+    termcolor 
+
+RUN apt update && apt install -y gnutls-bin && \
+    pip3 install --no-cache-dir \
+    empy==3.3.4 \
+    rospkg \
+    pydensecrf@git+https://github.com/lucasb-eyer/pydensecrf.git \
+    liegroups@git+https://github.com/mmattamala/liegroups \
+    opencv-python
+
+# ==
+# Enable dialog again
+# ==
+ARG DEBIAN_FRONTEND=dialog
+
+WORKDIR /root/catkin_ws
+
+###############################################################
+# Development image
+# This adds display access and simulation support
+###############################################################
+
+FROM base as dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN mkdir -p /root/catkin_ws/src \
+    && source /opt/ros/noetic/setup.bash \
+    && source "/root/.bashrc" \
+    && cd /root/catkin_ws && catkin build \
+    && apt-get update \
+    && apt-get install -y \
+    ros-noetic-jackal-simulator \
+    ros-noetic-jackal-desktop \
+    ros-noetic-teleop-twist-keyboard \
+    ros-noetic-rqt-robot-steering 
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+RUN apt-get update && apt install -y zsh autojump  \
+    && git clone https://github.com/ohmyzsh/ohmyzsh.git ~/.oh-my-zsh \
+    && cp ~/.oh-my-zsh/templates/zshrc.zsh-template ~/.zshrc \
+    && git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting \
+    && git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions \
+    && rm -rf ~/.zshrc
+COPY docker/.zshrc /root/.zshrc
+RUN chsh -s /usr/bin/zsh
+
+CMD ["zsh"]
+
+# ==
+# Remove cache and extra files
+# ==
+RUN rm -rf /var/lib/apt/lists/* && apt clean
+COPY docker/first_run.sh first_run.sh
+ENV DEBIAN_FRONTEND=dialog

docker/AMD/wvn-base/first_run.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+echo "pip3 install -e /root/catkin_ws/src/self_supervised_segmentation ..."
+pip3 install -e /root/catkin_ws/src/self_supervised_segmentation > /dev/null
+
+echo "pip3 install -e /root/catkin_ws/src/wild_visual_navigation ..."
+pip3 install -e /root/catkin_ws/src/wild_visual_navigation > /dev/null
+
+echo "downloading STEGO pretrained weights to self_supervised_segmentation/models/"
+./src/self_supervised_segmentation/models/download_pretrained.sh
+
+echo "catkin build ..."
+catkin build > /dev/null
+
+echo "source devel/setup.bash ..."
+source devel/setup.bash > /dev/null
+
+echo "Setup ready!"

docker/ARM/.zshrc

@@ -0,0 +1,11 @@
+export ZSH="$HOME/.oh-my-zsh"
+
+ZSH_THEME="robbyrussell"
+
+plugins=(git zsh-autosuggestions zsh-syntax-highlighting autojump)
+
+source $ZSH/oh-my-zsh.sh
+
+[[ -s ~/.autojump/etc/profile.d/autojump.sh ]] && source ~/.autojump/etc/profile.d/autojump.sh
+
+autoload -U compinit && compinit -u